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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..772f6c88dd943c79a84229dafbeaa17318ffe009
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c26c83cfa5b9f29a5353df63bee0495704e9a988
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/resolved_config.yaml
@@ -0,0 +1,254 @@
+name: fast_3beaker_preloaded_mix_s03_pol_lou_00001
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into the preloaded
+    beaker c and return it upright. Place beaker a at home.
+  layout_id: layout_00001
+  reproducibility:
+    enabled: true
+    layout_id: layout_00001
+    action_seed: 930985434780052157
+    step_seeds:
+    - 4454205068413497318
+    - 4415600845410333999
+    - 4823626241943975924
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2918
+      - 0.2918
+      'y':
+      - -0.1387
+      - -0.1387
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2543
+      - 0.2543
+      'y':
+      - 0.1898
+      - 0.1898
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_c
+    path: /World/beaker_3
+    position_range:
+      x:
+      - 0.2982
+      - 0.2982
+      'y':
+      - 0.0462
+      - 0.0462
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.1288
+      - 0.1288
+      'y':
+      - 0.3901
+      - 0.3901
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.1206
+      - 0.1206
+      'y':
+      - -0.4323
+      - -0.4323
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_c
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d96e794d18a2f79668fa5b0fb90876e0649e551
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_0_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3104722756797539,
+              -0.1304297058903207,
+              1.0007737180499026
+            ],
+            "current_z": 1.0007737180499026,
+            "required_z": 0.8611066711590156,
+            "initial_z": 0.7611066711590156,
+            "lift_margin": 0.13966704689088694,
+            "gripper_z": 1.0023258306895122,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30637973750227665,
+              -0.13474807830839636,
+              1.0023258306895122
+            ],
+            "object_minus_gripper": [
+              0.004092538177477234,
+              0.004318372418075644,
+              -0.0015521126396096374
+            ],
+            "object_to_gripper_xy": 0.005949555367866171,
+            "object_to_gripper_z": -0.0015521126396096374,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3104722756797539,
+              -0.1541649499439007,
+              1.0007737180499026
+            ],
+            "finger_b": [
+              0.2995417901304623,
+              -0.1304297058903207,
+              1.0007737180499026
+            ],
+            "finger_midpoint": [
+              0.3050070329051081,
+              -0.1422973279171107,
+              1.0007737180499026
+            ],
+            "object_minus_finger_midpoint": [
+              0.005465242774645773,
+              0.011867622026789981,
+              0.0
+            ],
+            "finger_gap": 0.02613115620530934,
+            "fingertip_max_gap": 0.0922386837994982,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013065578102654645,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0007737180499026,
+            "object_top_z": 1.0507906400762703,
+            "finger_top_clearance": 0.05001692202636776,
+            "fingertip_min_top_clearance": 0.015005076607910344,
+            "object_projection_between_fingers": 0.8250307796096784,
+            "object_to_finger_line_xy": 0.009928291733369732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048619341899749105,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.019872509809739,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.32367480498946843,
+              0.045631524806399135,
+              0.7701463770740541
+            ],
+            "gripper_position": [
+              0.32390796940466277,
+              0.006270179303278459,
+              1.0266013557735059
+            ],
+            "target_minus_gripper": [
+              -0.0002331644151943313,
+              0.039361345503120676,
+              -0.2564549786994518
+            ],
+            "held_position": [
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+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e274d019329b031db47f302e5a5281940883d3a2fa4ec761b6989e3a518a8844",
+    "visual_seed": 6355377094663276115,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d5db539ccbf98a5654bbc560740f6113199819f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_100_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3177837714840119,
+              -0.1396394681526929,
+              1.0040723751272915
+            ],
+            "current_z": 1.0040723751272915,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14296592671717034,
+            "gripper_z": 1.0041439299113555,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.314175614322902,
+              -0.1436697819626215,
+              1.0041439299113555
+            ],
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+              0.004030313809928604,
+              -7.15547840639541e-05
+            ],
+            "object_to_gripper_xy": 0.00540945722838899,
+            "object_to_gripper_z": -7.15547840639541e-05,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3177837714840119,
+              -0.16308242136218978,
+              1.0040723751272915
+            ],
+            "finger_b": [
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+              -0.1396394681526929,
+              1.0040723751272915
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+            "finger_midpoint": [
+              0.3125468049626197,
+              -0.15136094475744133,
+              1.0040723751272915
+            ],
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+              0.011721476604748426,
+              0.0
+            ],
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048943984920968395,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.32495949781004824,
+              0.04664523047082879,
+              0.7701463897966117
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+            "gripper_position": [
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+              0.017045351374116044,
+              1.048757093086164
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+              0.02105396930228485,
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+              0.27843789930798946
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+              0.004008617928168805,
+              -0.0001728039815629412
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+            "held_gripper_dist": 0.0054069256868845,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.048757093086164,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.37564325308742,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "max_source_tilt_deg": 89.96931713832977,
+            "source_upright_tilt_deg": 3.1096631172134557,
+            "max_source_upright_tilt_deg": 89.87320496329055,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.895607970106344,
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+            "target_xy_drift": 2.2351741790771484e-08,
+            "max_target_xy_drift": 2.123415470123291e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0466,
+                0.7701
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+              "controller_target_position": [
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+                0.0466,
+                0.7701
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+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0007,
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.612710952758789
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0007,
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0221,
+              1.0363
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0006537460728253557,
+                0.0009983292706198898
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.1082821223125174,
+            "pour_controller_source_return_best_wrist_position": -1.612710952758789,
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+            "pour_controller_wrist_compensated_return_position": -1.612710952758789,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.02964722182683239,
+            "valid_pour_held_xy_dist": 0.0261341463375928,
+            "valid_pour_held_gripper_dist": 0.0054069256868845,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.048584289104601,
+            "valid_pour_source_tilt_deg": 1.895607970106344,
+            "valid_pour_source_upright_tilt_deg": 3.1096631172134557,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.2351741790771484e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.33025864459024695,
+              -0.0020637665505972144,
+              1.048584289104601
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3199745461084799,
+              0.02105396930228485,
+              1.048584289104601
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32511659534936344,
+              0.009495101375843817,
+              1.048584289104601
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.33025864459024695,
+              0.02105396930228485,
+              1.048584289104601
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025302023487189948,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02350064752098214,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.040543319468426986,
+              -0.9985275451580727,
+              0.03604137632047766
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005621634203625534,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038386877799795036,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.33025864459024695,
+              -0.0020637665505972144,
+              1.048584289104601
+            ],
+            "held_grasp_finger_b": [
+              0.3199745461084799,
+              0.02105396930228485,
+              1.048584289104601
+            ],
+            "held_grasp_midpoint": [
+              0.32511659534936344,
+              0.009495101375843817,
+              1.048584289104601
+            ],
+            "held_grasp_object_position": [
+              0.33025864459024695,
+              0.02105396930228485,
+              1.048584289104601
+            ],
+            "held_grasp_finger_gap": 0.025302023487189948,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02350064752098214,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.040543319468426986,
+              -0.9985275451580727,
+              0.03604137632047766
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005621634203625534,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038386877799795036,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2985188268865557,
+              -0.1447816399546198,
+              0.7611087529742602
+            ],
+            "target_position": [
+              0.29537681503218094,
+              -0.14362925794234205,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0033466733923782697,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21830066020035127,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611087529742602,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535126163343384,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08784767680339321,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18893701627963963,
+            "release_required_pad_clearance": 0.05392383840169661,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.855591254946067,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "656d6eb1113769ee3e3cd59d003b9fe2b565a805903e945e1c62ac79d15522c3",
+    "visual_seed": 3276488448702398939,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_101_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdd2694c96871a4605e0271b2bf1ee231bfcf085
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_101_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30923059155820615,
+              -0.1321493802490725,
+              1.0033766058777158
+            ],
+            "current_z": 1.0033766058777158,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.14227015746759442,
+            "gripper_z": 1.0039217644612481,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3055250175950127,
+              -0.13624312821050746,
+              1.0039217644612481
+            ],
+            "object_minus_gripper": [
+              0.0037055739631934315,
+              0.004093747961434968,
+              -0.0005451585835323236
+            ],
+            "object_to_gripper_xy": 0.0055217796740226815,
+            "object_to_gripper_z": -0.0005451585835323236,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30923059155820615,
+              -0.15560789309065867,
+              1.0033766058777158
+            ],
+            "finger_b": [
+              0.29862505975685505,
+              -0.1321493802490725,
+              1.0033766058777158
+            ],
+            "finger_midpoint": [
+              0.3039278256575306,
+              -0.14387863666986558,
+              1.0033766058777158
+            ],
+            "object_minus_finger_midpoint": [
+              0.005302765900675521,
+              0.011729256420793088,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.28861729271266595,
+              -0.1368664539063881,
+              0.7611065186715255
+            ],
+            "target_position": [
+              0.28696213764578915,
+              -0.1373432212036821,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0017224532943383277,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21718123153410082,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065186715255,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579467473050545,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573643099852117,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.187389815910566,
+            "release_required_pad_clearance": 0.05286821549926059,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7783304026091021,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d2efb2c3b060d225c6cbeba75bbf50bb883bc6f5681786f0364eadf57c3e5d7",
+    "visual_seed": 2034070674791780634,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_102_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4515ce2e6a6c80b2f73be0937cf9390df54185f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_102_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_a",
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+              0.0,
+              1.0
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+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+            },
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+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "target_position": [
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+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
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+            "required_height": 0.8001464494012567,
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+            "wrist_idx": 5,
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d38797f4b8c59e7b2b2d5f6b5fb5441beff6108bb34752277cb95fa7506b14d",
+    "visual_seed": 6471201193472749433,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_103_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba6a6a02d6a2b222cd9fd14dfd04463d86b9c6a3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_103_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              -0.1363316905699082,
+              1.0028758156613722
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+            "lift_margin": 0.141769307646606,
+            "gripper_z": 1.0040550169598106,
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+            "gripper_position": [
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+              -0.14059423405603613,
+              1.0040550169598106
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+              0.004262543486127923,
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+            "object_to_gripper_z": -0.0011792012984384037,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31481454939022724,
+              -0.16030924726243978,
+              1.0028758156613722
+            ],
+            "finger_b": [
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+              -0.1363316905699082,
+              1.0028758156613722
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+            "finger_midpoint": [
+              0.3094968641136976,
+              -0.148320468916174,
+              1.0028758156613722
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+            "object_minus_finger_midpoint": [
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+              0.0119887783462658,
+              0.0
+            ],
+            "finger_gap": 0.02623040853178704,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009721930181645052,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04903591007608103,
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31805274999205524,
+              0.04583999779694534,
+              0.7701464494012565
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+              0.013445613453803684,
+              1.0494620820641998
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+              0.03239438434314166,
+              -0.27931563266294324
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+            "held_position": [
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+              0.01755920146853297,
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+            "held_minus_target": [
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+              0.004113588014729285,
+              -0.0013112593290458552
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+            "missing_held_position_samples": 0,
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+            "target_z": 0.7701464494012565,
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+            "required_height": 0.8001464494012566,
+            "gripper_z": 1.0494620820641998,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.38778049924252,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.361620301150363,
+            "max_source_tilt_deg": 89.64438043899692,
+            "source_upright_tilt_deg": 1.7939605552362514,
+            "max_source_upright_tilt_deg": 89.95053496338357,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.1828894210476947e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0458,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0458,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.2,
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.614529013633728
+            },
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0208,
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+            "pour_controller_controller_t": 0.0,
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+              0.0603,
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
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+                0.2
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_step_error_deg": 2.361619263693575,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.3499870853203624,
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+            "pour_controller_wrist_compensated_return_position": -1.614529013633728,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03258763326811368,
+            "valid_pour_held_xy_dist": 0.029342619651447355,
+            "valid_pour_held_gripper_dist": 0.006078337732648317,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.048150822735154,
+            "valid_pour_source_tilt_deg": 2.361620301150363,
+            "valid_pour_source_upright_tilt_deg": 1.7939605552362514,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.1828894210476947e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32587489081412957,
+              -0.006428491502086614,
+              1.048150822735154
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3158230686343787,
+              0.01755920146853297,
+              1.048150822735154
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32084897972425414,
+              0.005565354983223178,
+              1.048150822735154
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32587489081412957,
+              0.01755920146853297,
+              1.048150822735154
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02600862440011089,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024132475418844005,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.015573242492238216,
+              -0.9995098729967865,
+              0.027156728452185423
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00522218570203212,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037810551824967176,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32587489081412957,
+              -0.006428491502086614,
+              1.048150822735154
+            ],
+            "held_grasp_finger_b": [
+              0.3158230686343787,
+              0.01755920146853297,
+              1.048150822735154
+            ],
+            "held_grasp_midpoint": [
+              0.32084897972425414,
+              0.005565354983223178,
+              1.048150822735154
+            ],
+            "held_grasp_object_position": [
+              0.32587489081412957,
+              0.01755920146853297,
+              1.048150822735154
+            ],
+            "held_grasp_finger_gap": 0.02600862440011089,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024132475418844005,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.015573242492238216,
+              -0.9995098729967865,
+              0.027156728452185423
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00522218570203212,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037810551824967176,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2941496529362584,
+              -0.14646925486629997,
+              0.7611108843556488
+            ],
+            "target_position": [
+              0.29184514915442306,
+              -0.14012987379629438,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0067452568543561455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21553513338543573,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611108843556488,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581245494796406,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515251648687903,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18443350700051364,
+            "release_required_pad_clearance": 0.05257625824343952,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20926816710994312,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19ef90288d16787029c27bd40337aefb917cd903b313864e0e31ceeccf1c08b0",
+    "visual_seed": 595936506190189652,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_104_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e636590f2b5712546ed318d46770554fc417b60b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_104_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31544549348644985,
+              -0.13671350068049737,
+              1.0026812170248727
+            ],
+            "current_z": 1.0026812170248727,
+            "required_z": 0.8611065676194105,
+            "initial_z": 0.7611065676194105,
+            "lift_margin": 0.14157464940546216,
+            "gripper_z": 1.0031940972809144,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3119819981395499,
+              -0.140665358661401,
+              1.0031940972809144
+            ],
+            "object_minus_gripper": [
+              0.0034634953468999363,
+              0.003951857980903639,
+              -0.0005128802560416812
+            ],
+            "object_to_gripper_xy": 0.005254805564360046,
+            "object_to_gripper_z": -0.0005128802560416812,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31544549348644985,
+              -0.16004434583766255,
+              1.0026812170248727
+            ],
+            "finger_b": [
+              0.3050717619020853,
+              -0.13671350068049737,
+              1.0026812170248727
+            ],
+            "finger_midpoint": [
+              0.3102586276942676,
+              -0.14837892325907998,
+              1.0026812170248727
+            ],
+            "object_minus_finger_midpoint": [
+              0.005186865792182249,
+              0.011665422578582607,
+              0.0
+            ],
+            "finger_gap": 0.025533167502917866,
+            "fingertip_max_gap": 0.09439777099106841,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012766583751458935,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0026812170248727,
+            "object_top_z": 1.0530530443303707,
+            "finger_top_clearance": 0.05037182730549805,
+            "fingertip_min_top_clearance": 0.015111548191649431,
+            "object_projection_between_fingers": 0.8349328607598527,
+            "object_to_finger_line_xy": 0.009478962031214679,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04969888549553421,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.193783070567179,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
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+              -0.12247914567591546,
+              0.7611232247935292
+            ],
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+              -0.14014888501465145,
+              0.7774145980897915
+            ],
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+            "object_upright_reference_source": "scene_initial",
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+            "release_fingertip_min_gap": 0.08664830791007365,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18442396151141077,
+            "release_required_pad_clearance": 0.05332415395503683,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6369408727490007,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4af08c75f7a335c2423429df2c2939a3aaf81b50d3774246ef472aa3d2fbc5b8",
+    "visual_seed": 5378978660795166742,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_105_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54256fedc12055378e6be899b7620706699d5351
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_105_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.6949673232298386,
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+            "missing_source_orientation_samples": 0,
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e75c56ea966feb3e473d8bc53d58f475452e53e6f3263f603b19ac5f95eff2d5",
+    "visual_seed": 8777097490014703886,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_107_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a8aadd2a7c86d27f5fa8a2d56f639348dc3e27b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_107_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "checker": "PickSuccessChecker",
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+          "metrics": {
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+              -0.13914050482748513,
+              1.0006874011677516
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+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.13958095275763027,
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+            "gripper_position": [
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+              -0.14315883780840838,
+              1.0021933750650882
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+              0.004018332980923245,
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+            ],
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+            "object_to_gripper_z": -0.0015059738973366432,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.16281584185698705,
+              1.0006874011677516
+            ],
+            "finger_b": [
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+              -0.13914050482748513,
+              1.0006874011677516
+            ],
+            "finger_midpoint": [
+              0.3079436413354918,
+              -0.1509781733422361,
+              1.0006874011677516
+            ],
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+              0.01183766851475096,
+              0.0
+            ],
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04936089186469582,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.047155688373975525,
+              0.7701465686105465
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+              0.014484848563188865,
+              1.046503932458313
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+              0.03267083981078666,
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+              0.018366790353833005,
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+              0.27471630795379076
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+              0.0038819417906441403,
+              -0.0016410558939756736
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.47196258076293,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
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+            "max_source_tilt_deg": 89.83860280484494,
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+            "max_source_upright_tilt_deg": 89.7445164723578,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "source_upright_return_tilt_deg": 2.507218110250366,
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+            "target_xy_drift": 8.948454372185702e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0472,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0472,
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+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6168007850646973
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+            "pour_controller_skill": "pour",
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+            "pour_controller_pour_pose_offset": [
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+              -0.0012
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
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+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+              "use_preinterpolated_cartesian_targets": false
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.5072184825762047,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
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+            "pour_controller_source_return_best_wrist_position": -1.6168007850646973,
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+            "pour_controller_wrist_compensated_return_position": -1.6168007850646973,
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_xy_dist": 0.0327719817818606,
+            "valid_pour_held_xy_dist": 0.029482931974440463,
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+            "valid_pour_required_height": 0.8001465686105466,
+            "valid_pour_held_z": 1.0448628765643373,
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+            "valid_pour_source_upright_tilt_deg": 2.507218110250366,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.948454372185702e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32219374682581514,
+              -0.00525605433180693,
+              1.0448628765643373
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3124587551202169,
+              0.018366790353833005,
+              1.0448628765643373
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31732625097301603,
+              0.006555368011013038,
+              1.0448628765643373
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32219374682581514,
+              0.018366790353833005,
+              1.0448628765643373
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02555012435488197,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02393392877565075,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03427816288785669,
+              -0.9990427257306839,
+              0.027177926956251208
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005279139912073598,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03808698331366612,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32219374682581514,
+              -0.00525605433180693,
+              1.0448628765643373
+            ],
+            "held_grasp_finger_b": [
+              0.3124587551202169,
+              0.018366790353833005,
+              1.0448628765643373
+            ],
+            "held_grasp_midpoint": [
+              0.31732625097301603,
+              0.006555368011013038,
+              1.0448628765643373
+            ],
+            "held_grasp_object_position": [
+              0.32219374682581514,
+              0.018366790353833005,
+              1.0448628765643373
+            ],
+            "held_grasp_finger_gap": 0.02555012435488197,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02393392877565075,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03427816288785669,
+              -0.9990427257306839,
+              0.027177926956251208
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005279139912073598,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03808698331366612,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29047575789092794,
+              -0.1396861965322537,
+              0.761106352871901
+            ],
+            "target_position": [
+              0.2907795704231149,
+              -0.14249220638629273,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0028224091403760035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21741618326616338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106352871901,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516960983777239,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568260149604749,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18953748650781932,
+            "release_required_pad_clearance": 0.05284130074802375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7263122204377513,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ab17b1772ddaded6f1cacc5561fe15ad89026188f77e955d62cf5612dcfa012",
+    "visual_seed": 7628677741453420756,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_109_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e03667d5b81d195a7b55719e6867c065c656980
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_109_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3156521202480784,
+              -0.13761174413628102,
+              1.0020540971005512
+            ],
+            "current_z": 1.0020540971005512,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.14094752948114042,
+            "gripper_z": 1.0034967418663343,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3117906900471227,
+              -0.14162338564282279,
+              1.0034967418663343
+            ],
+            "object_minus_gripper": [
+              0.003861430200955751,
+              0.004011641506541763,
+              -0.001442644765783152
+            ],
+            "object_to_gripper_xy": 0.005568115549614774,
+            "object_to_gripper_z": -0.001442644765783152,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3156521202480784,
+              -0.16159032236333162,
+              1.0020540971005512
+            ],
+            "finger_b": [
+              0.3056686998780135,
+              -0.13761174413628102,
+              1.0020540971005512
+            ],
+            "finger_midpoint": [
+              0.31066041006304596,
+              -0.14960103324980634,
+              1.0020540971005512
+            ],
+            "object_minus_finger_midpoint": [
+              0.004991710185032472,
+              0.011989289113525314,
+              0.0
+            ],
+            "finger_gap": 0.025973850235885568,
+            "fingertip_max_gap": 0.0933441572595615,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012986925117942796,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0020540971005512,
+            "object_top_z": 1.0520778981698211,
+            "finger_top_clearance": 0.05002380106926996,
+            "fingertip_min_top_clearance": 0.015007140320781003,
+            "object_projection_between_fingers": 0.8522640965510513,
+            "object_to_finger_line_xy": 0.009216509071357997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04917207862978075,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0513679841654597,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "ridgebase_rizon4",
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+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                "ur16e",
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+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2699739683488774,
+              -0.12390564220127934,
+              0.7611094030869834
+            ],
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+              0.2930701684991909,
+              -0.14079011314581188,
+              0.7774145980897915
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+            "gripper_dist": 0.20108292905909714,
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17869208816837556,
+            "release_required_pad_clearance": 0.055349030383141234,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.802743757306949,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 184,
+            "max_placed_release_frames": 184
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40cc0b9c0f9ca57a5a6f8c61bae62f2c44638d3f7649cd484883a806cc494b55",
+    "visual_seed": 7427282182137575026,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b6a8044b4a79191e69e90e7cad9fba21a7fe4d3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_10_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+            },
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+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.04998121675723052,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.89588361390881,
+            "source_upright_tilt_deg": 2.807150427699898,
+            "max_source_upright_tilt_deg": 89.88052389058197,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.1507483935022114,
+            "source_upright_return_tilt_deg": 2.807150427699898,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.514431838712321e-08,
+            "max_target_xy_drift": 1.2665987014770508e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f43bdcfcd31a6078520448021f1bae1d464fe925bb7c59bad916da2918812e74",
+    "visual_seed": 9117931279713531032,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_110_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9298e619034764a97801c382def8aed293a4f20f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_110_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              1.0033173319463748
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+              -0.14553778367238251,
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+              0.011604200564031109,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+          }
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.019579318609957555,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+              0.0004297098986913577,
+              1.0464119467692539
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31225836490489345,
+              0.023391787589022106,
+              1.0464119467692539
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.317232023120723,
+              0.011910748743856732,
+              1.0464119467692539
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3222056813365526,
+              0.023391787589022106,
+              1.0464119467692539
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025024110694455075,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023154566928818898,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.020964978649035737,
+              -0.999300758479554,
+              0.030959066078188435
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005225257986859654,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03835151188229055,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3222056813365526,
+              0.0004297098986913577,
+              1.0464119467692539
+            ],
+            "held_grasp_finger_b": [
+              0.31225836490489345,
+              0.023391787589022106,
+              1.0464119467692539
+            ],
+            "held_grasp_midpoint": [
+              0.317232023120723,
+              0.011910748743856732,
+              1.0464119467692539
+            ],
+            "held_grasp_object_position": [
+              0.3222056813365526,
+              0.023391787589022106,
+              1.0464119467692539
+            ],
+            "held_grasp_finger_gap": 0.025024110694455075,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023154566928818898,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.020964978649035737,
+              -0.999300758479554,
+              0.030959066078188435
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005225257986859654,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03835151188229055,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.28911192072727515,
+              -0.13930270797115757,
+              0.7611064568973178
+            ],
+            "target_position": [
+              0.2888915462252028,
+              -0.1383794840123313,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0009491614189980994,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2166224449135379,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064568973178,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581507143382467,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649032423397084,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1868317381209954,
+            "release_required_pad_clearance": 0.05324516211698542,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5107394903009017,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d901e6706893b9efbda39518dadad76cb7c286a2e99d654d6bde806b89f4417",
+    "visual_seed": 3226661950833422579,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a7f120f0fc7f14db3c262d9b2c73d1652062048
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_11_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3183073943591592,
+              -0.13571869434560446,
+              1.005133393418698
+            ],
+            "current_z": 1.005133393418698,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14402694500857682,
+            "gripper_z": 1.005894193446698,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3145133561376904,
+              -0.13965868397123912,
+              1.005894193446698
+            ],
+            "object_minus_gripper": [
+              0.003794038221468843,
+              0.00393998962563466,
+              -0.0007608000280001637
+            ],
+            "object_to_gripper_xy": 0.005469757241055147,
+            "object_to_gripper_z": -0.0007608000280001637,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3183073943591592,
+              -0.15965570372546453,
+              1.005133393418698
+            ],
+            "finger_b": [
+              0.3084048574249525,
+              -0.13571869434560446,
+              1.005133393418698
+            ],
+            "finger_midpoint": [
+              0.31335612589205586,
+              -0.1476871990355345,
+              1.005133393418698
+            ],
+            "object_minus_finger_midpoint": [
+              0.004951268467103365,
+              0.011968504689930048,
+              0.0
+            ],
+            "finger_gap": 0.025904452431673542,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012952226215836785,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.005133393418698,
+            "object_top_z": 1.055347640000595,
+            "finger_top_clearance": 0.050214246581897104,
+            "fingertip_min_top_clearance": 0.015064273974569165,
+            "object_projection_between_fingers": 0.8538684103742732,
+            "object_to_finger_line_xy": 0.009150439296245882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0495217866950176,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0047222094387105,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2970188497176155,
+              -0.14218505463477596,
+              0.761106960817603
+            ],
+            "target_position": [
+              0.29555247607341656,
+              -0.14014784840426733,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0025100718894136152,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21841897065537277,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106960817603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755495482777985,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09199714220184389,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18876596032012286,
+            "release_required_pad_clearance": 0.05599857110092195,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.234183420623205,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10b3706cfade69da2d686c97f86186f531e6b52397633ba81003750c38de8119",
+    "visual_seed": 1329156983859336917,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a68363e0bb69bd093f79964750fbffcfddf44106
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_12_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3180542579402427,
+              -0.13270309102283967,
+              1.0032695050903393
+            ],
+            "current_z": 1.0032695050903393,
+            "required_z": 0.8611065676194106,
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+            "lift_margin": 0.14216293747092867,
+            "gripper_z": 1.0043068128557868,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.13683392794688753,
+              1.0043068128557868
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+              0.004130836924047865,
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+            "object_to_gripper_z": -0.001037307765447526,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3180542579402427,
+              -0.15640569477794578,
+              1.0032695050903393
+            ],
+            "finger_b": [
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+              -0.13270309102283967,
+              1.0032695050903393
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+            "finger_midpoint": [
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+              -0.14455439290039274,
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+            ],
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+              0.011851301877553067,
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+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009569227019505787,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0492336801034816,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.070636806311877,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04774584141247727,
+              0.7701464494012564
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+              0.01522435685305755,
+              1.0460602790094171
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+              0.27474398910379594
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+              0.004009385029845852,
+              -0.0011698405043647497
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+            "held_gripper_dist": 0.0057093122143316135,
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+            "xy_threshold": 0.15,
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+            "required_height": 0.8001464494012565,
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+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.46334971221955,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.981507648559013,
+            "max_source_tilt_deg": 89.69880343512772,
+            "source_upright_tilt_deg": 2.3626057516026644,
+            "max_source_upright_tilt_deg": 89.83295662965567,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.981507648559013,
+            "source_upright_return_tilt_deg": 2.3626057516026644,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.06402249678704e-08,
+            "max_target_xy_drift": 1.0490512728936019e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3244,
+                0.0477,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0477,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              ],
+              "height_range_2": [
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                  0.2,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.61617910861969
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3244,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_t": 0.0,
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+            ],
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+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0005903998833541881,
+                -0.0017573564015994762
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.362604543292364,
+            "pour_controller_source_return_step_error_deg": 1.9814763115304332,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.354892200229337,
+            "pour_controller_source_return_best_wrist_position": -1.61617910861969,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.61617910861969,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03260494021359666,
+            "valid_pour_held_xy_dist": 0.02918351681056442,
+            "valid_pour_held_gripper_dist": 0.0057093122143316135,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.0448904385050524,
+            "valid_pour_source_tilt_deg": 1.981507648559013,
+            "valid_pour_source_upright_tilt_deg": 2.3626057516026644,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.06402249678704e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.33064965112488887,
+              -0.004432233824004501,
+              1.0448904385050524
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3206790777439562,
+              0.019233741882903402,
+              1.0448904385050524
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32566436443442254,
+              0.0074007540294494505,
+              1.0448904385050524
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.33064965112488887,
+              0.019233741882903402,
+              1.0448904385050524
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02568055177959613,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.0239736765889824,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.032878555029525657,
+              -0.9991499541892731,
+              0.02486703968598092
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005379584720183291,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03806122982118478,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.33064965112488887,
+              -0.004432233824004501,
+              1.0448904385050524
+            ],
+            "held_grasp_finger_b": [
+              0.3206790777439562,
+              0.019233741882903402,
+              1.0448904385050524
+            ],
+            "held_grasp_midpoint": [
+              0.32566436443442254,
+              0.0074007540294494505,
+              1.0448904385050524
+            ],
+            "held_grasp_object_position": [
+              0.33064965112488887,
+              0.019233741882903402,
+              1.0448904385050524
+            ],
+            "held_grasp_finger_gap": 0.02568055177959613,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0239736765889824,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.032878555029525657,
+              -0.9991499541892731,
+              0.02486703968598092
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005379584720183291,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03806122982118478,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2776240313022112,
+              -0.11157770869450473,
+              0.7611065843403507
+            ],
+            "target_position": [
+              0.29555679400771373,
+              -0.13435718562957658,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.028991180515586683,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20580507419753172,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065843403507,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08484556472882052,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09480873800384355,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1837869059491503,
+            "release_required_pad_clearance": 0.05740436900192178,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 10.485087425319266,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 169,
+            "max_placed_release_frames": 169
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "481be60f333fe0596451ea9b03280f6a8e3ec074350a7c539989e228afa435ff",
+    "visual_seed": 510036308258594377,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fe9b8bf15a900709b0a2c6522c0f464d9c50b10
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_14_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.025120129425382536,
+              -0.9992486938164435,
+              0.02951316661735115
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005237296862999956,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03809797281257174,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3279004929578971,
+              -0.002257041514857471,
+              1.0462384956238076
+            ],
+            "held_grasp_finger_b": [
+              0.3180361244229153,
+              0.02125297043183863,
+              1.0462384956238076
+            ],
+            "held_grasp_midpoint": [
+              0.32296830869040616,
+              0.00949796445849058,
+              1.0462384956238076
+            ],
+            "held_grasp_object_position": [
+              0.3279004929578971,
+              0.02125297043183863,
+              1.0462384956238076
+            ],
+            "held_grasp_finger_gap": 0.025495615864844928,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023740142943643475,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.025120129425382536,
+              -0.9992486938164435,
+              0.02951316661735115
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005237296862999956,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03809797281257174,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2891614428763559,
+              -0.1390501659249146,
+              0.7611064096214748
+            ],
+            "target_position": [
+              0.2876690050685167,
+              -0.1411264895776895,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0025570472270453684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2171551592667903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064096214748,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546976282813916,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606218634574585,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18827290851433345,
+            "release_required_pad_clearance": 0.053031093172872926,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.09359371110239,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc06b61b361cc3328054c4855e7dc0fd74d1117953fd3473380cd1850e565c1c",
+    "visual_seed": 779643656704250273,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2a13e32e270fa6ab469c68f43678b5e328f460a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_15_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3115852323540264,
+              -0.1324843235762384,
+              1.0021434956973063
+            ],
+            "current_z": 1.0021434956973063,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.14103692807789558,
+            "gripper_z": 1.002800189033649,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3079786805431089,
+              -0.1363999523022061,
+              1.002800189033649
+            ],
+            "object_minus_gripper": [
+              0.003606551810917513,
+              0.003915628725967707,
+              -0.0006566933363427729
+            ],
+            "object_to_gripper_xy": 0.005323472953294294,
+            "object_to_gripper_z": -0.0006566933363427729,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3115852323540264,
+              -0.15617748460121977,
+              1.0021434956973063
+            ],
+            "finger_b": [
+              0.3015900536764598,
+              -0.1324843235762384,
+              1.0021434956973063
+            ],
+            "finger_midpoint": [
+              0.3065876430152431,
+              -0.1443309040887291,
+              1.0021434956973063
+            ],
+            "object_minus_finger_midpoint": [
+              0.004997589338783304,
+              0.011846580512490684,
+              0.0
+            ],
+            "finger_gap": 0.02571516043411315,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012857580217056575,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0021434956973063,
+            "object_top_z": 1.0524325439999513,
+            "finger_top_clearance": 0.05028904830264502,
+            "fingertip_min_top_clearance": 0.015086714490793523,
+            "object_projection_between_fingers": 0.8489215056805506,
+            "object_to_finger_line_xy": 0.009209251425353315,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0495561214660714,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.984352371582821,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+              0.7611065337048131
+            ],
+            "target_position": [
+              0.288990706786453,
+              -0.13447960839857984,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.03796485438944816,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22411317411778678,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065337048131,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569963701913385,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08879957207614174,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1870984222155228,
+            "release_required_pad_clearance": 0.05439978603807087,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8250818183187927,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 174,
+            "max_placed_release_frames": 174
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f1961ab3633d009cd143bd214bd2e27ec6e9f570c3144b8acd862d36c5c2df3f",
+    "visual_seed": 5298740821390205962,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dfd149f2f1f898a9d03a13cd66f245285bd8420
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_16_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3141521958039515,
+              -0.13042203896246185,
+              1.0043745670369622
+            ],
+            "current_z": 1.0043745670369622,
+            "required_z": 0.8611065080147658,
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+            "lift_margin": 0.1432680590221963,
+            "gripper_z": 1.0054113394000033,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3105262894049069,
+              -0.1343548997029001,
+              1.0054113394000033
+            ],
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+              0.003932860740438249,
+              -0.0010367723630411163
+            ],
+            "object_to_gripper_xy": 0.005349260773070703,
+            "object_to_gripper_z": -0.0010367723630411163,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3141521958039515,
+              -0.15410986049749062,
+              1.0043745670369622
+            ],
+            "finger_b": [
+              0.30411941344621257,
+              -0.13042203896246185,
+              1.0043745670369622
+            ],
+            "finger_midpoint": [
+              0.30913580462508206,
+              -0.14226594972997625,
+              1.0043745670369622
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011843910767514398,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015038198541687468,
+            "object_projection_between_fingers": 0.847897636612736,
+            "object_to_finger_line_xy": 0.009238322172094873,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04933157039370763,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.058824392307353,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04559852820508932,
+              0.7701463301919669
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+            "gripper_position": [
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+              0.01512081530050298,
+              1.048865024869489
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+            "held_minus_target": [
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+              0.0038404627874234973,
+              -0.0011388934771019432
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001463301919669,
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+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.42875480407344,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 3.4827146546126855,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.2710539466868176,
+            "max_source_tilt_deg": 89.86727197129076,
+            "source_upright_tilt_deg": 3.049623925456405,
+            "max_source_upright_tilt_deg": 89.81497747771483,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.2710539466868176,
+            "source_upright_return_tilt_deg": 3.049623925456405,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.0848209096909341e-07,
+            "max_target_xy_drift": 1.739355553676002e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3201,
+                0.0456,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0456,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
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+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              ],
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+                "pour_pose_offset_m": [
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.049617939935652,
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+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 3.042574150950365,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6158710718154907
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3201,
+              0.0456,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.001,
+              -0.0009,
+              0.0004
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0195,
+              1.0358
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
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+            ],
+            "pour_controller_height_range_1": [
+              0.3,
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+            ],
+            "pour_controller_height_range_2": [
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+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.000955552290819223,
+                -0.0008557910066070513,
+                0.00042194851034473794
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.049617939935652,
+            "pour_controller_source_return_step_error_deg": 2.27102050485935,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.042574150950365,
+            "pour_controller_source_return_best_wrist_position": -1.6158710718154907,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6158710718154907,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030549661820628,
+            "valid_pour_held_xy_dist": 0.027256738388025205,
+            "valid_pour_held_gripper_dist": 0.005441360709630825,
+            "valid_pour_required_height": 0.8001463301919669,
+            "valid_pour_held_z": 1.0477261313923871,
+            "valid_pour_source_tilt_deg": 2.2710539466868176,
+            "valid_pour_source_upright_tilt_deg": 3.049623925456405,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.0848209096909341e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3258701852999262,
+              -0.004476825812269882,
+              1.0477261313923871
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31623256540027445,
+              0.018961278087926477,
+              1.0477261313923871
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3210513753501003,
+              0.007242226137828297,
+              1.0477261313923871
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3258701852999262,
+              0.018961278087926477,
+              1.0477261313923871
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025342226259083132,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023800586447857486,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04105522250581063,
+              -0.9985838410015231,
+              0.033834615346466146
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005310448091848437,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03821563147557295,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3258701852999262,
+              -0.004476825812269882,
+              1.0477261313923871
+            ],
+            "held_grasp_finger_b": [
+              0.31623256540027445,
+              0.018961278087926477,
+              1.0477261313923871
+            ],
+            "held_grasp_midpoint": [
+              0.3210513753501003,
+              0.007242226137828297,
+              1.0477261313923871
+            ],
+            "held_grasp_object_position": [
+              0.3258701852999262,
+              0.018961278087926477,
+              1.0477261313923871
+            ],
+            "held_grasp_finger_gap": 0.025342226259083132,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023800586447857486,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04105522250581063,
+              -0.9985838410015231,
+              0.033834615346466146
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005310448091848437,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03821563147557295,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.27505954307475877,
+              -0.1150099126103329,
+              0.7611063286768575
+            ],
+            "target_position": [
+              0.29170629919032864,
+              -0.135524301456593,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02641883114194918,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2058052746039659,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063286768575,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0843653594686739,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851728583998453,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18257567215803636,
+            "release_required_pad_clearance": 0.05258642919992265,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2373881335104779,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a4eb5dc3ea1099edca6f591f98e4fd7812f3795710178f51a7242dd13526871b",
+    "visual_seed": 4091668745202960067,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b5744a996ddb233602d4d3415dc6301dd749474
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_17_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+              0.3219235927677593,
+              -0.007597023018730111,
+              1.0463488070816407
+            ],
+            "held_grasp_finger_b": [
+              0.3118702140452553,
+              0.015897451624682604,
+              1.0463488070816407
+            ],
+            "held_grasp_midpoint": [
+              0.3168969034065073,
+              0.004150214302976247,
+              1.0463488070816407
+            ],
+            "held_grasp_object_position": [
+              0.3219235927677593,
+              0.015897451624682604,
+              1.0463488070816407
+            ],
+            "held_grasp_finger_gap": 0.025555053561048532,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02393040301873266,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04721305597731987,
+              -0.9983518526098353,
+              0.032626764102378636
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.005588598524555993,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03822969929311551,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26799960067685136,
+              -0.11431770915355019,
+              0.7611063271040656
+            ],
+            "target_position": [
+              0.2908349455437385,
+              -0.13862081726831393,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0333480739957732,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20420475577334474,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063271040656,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08639691936841003,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08909542462396149,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18282412171341034,
+            "release_required_pad_clearance": 0.054547712311980745,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.129950061872941,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 188,
+            "max_placed_release_frames": 188
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9da68c17e5242fb56d34f4ff8d8e224761789fc33080439a0d5d237262284938",
+    "visual_seed": 199044836388157578,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5e55ba62996f36e4348b1c57d0ceafc503aa492
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_18_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.31067767588947004,
+              -0.13120514344614237,
+              1.0017999536262923
+            ],
+            "current_z": 1.0017999536262923,
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+            "lift_margin": 0.14069350521617108,
+            "gripper_z": 1.0026405457090448,
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+            "gripper_position": [
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+              -0.13508197370863056,
+              1.0026405457090448
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+              0.0038768302624881956,
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+            "object_to_gripper_z": -0.0008405920827525559,
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+              -0.15446989654474463,
+              1.0017999536262923
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+              -0.13120514344614237,
+              1.0017999536262923
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+            "finger_midpoint": [
+              0.3055618311264903,
+              -0.1428375199954435,
+              1.0017999536262923
+            ],
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+              0.011632376549301132,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009365931703343561,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3443946170002454,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
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+            "release_required_pad_clearance": 0.05301530494184334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.059418712919036,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 185,
+            "max_placed_release_frames": 185
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6a5f4c6a1c203c157e6fb41353ba190fdbca3d3c15a6d33c2fb31419068f21b",
+    "visual_seed": 3172821266956508014,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbd85c3094575fd7220ffd2330258f9ef5354873
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_19_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3101565153130245,
+              -0.1369400957289882,
+              1.003839843748937
+            ],
+            "current_z": 1.003839843748937,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14273339533881602,
+            "gripper_z": 1.0045273848926648,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30645522661035207,
+              -0.14083327320839772,
+              1.0045273848926648
+            ],
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+              0.003701288702672445,
+              0.0038931774794095375,
+              -0.0006875411437277101
+            ],
+            "object_to_gripper_xy": 0.005371812445228544,
+            "object_to_gripper_z": -0.0006875411437277101,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3101565153130245,
+              -0.16080687682362385,
+              1.003839843748937
+            ],
+            "finger_b": [
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+              -0.1369400957289882,
+              1.003839843748937
+            ],
+            "finger_midpoint": [
+              0.30524654914906746,
+              -0.14887348627630603,
+              1.003839843748937
+            ],
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+              0.011933390547317846,
+              0.0
+            ],
+            "finger_gap": 0.025808028028969438,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.00908128954956901,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04950891701091435,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1151211933081613,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3232300094372455,
+              0.05041082095973946,
+              0.7701463897966117
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+              0.017341731691600984,
+              1.0491256971769416
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+              0.03306908926813847,
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+            "held_position": [
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+              0.02116177731504587,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.003820045623444887,
+              -0.0008117387138857346
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "gripper_z": 1.0491256971769416,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.3929577826334,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.324417071690921,
+            "max_source_tilt_deg": 89.98685180467902,
+            "source_upright_tilt_deg": 3.0196211600763365,
+            "max_source_upright_tilt_deg": 89.95500796563402,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.324417071690921,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.72068100476237e-08,
+            "max_target_xy_drift": 1.2128666487410446e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0504,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0504,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.613570213317871
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0002,
+              -0.0008,
+              0.0012
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3235,
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+              1.0365
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
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+            "pour_controller_height_range_1": [
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+            ],
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.00022773331857572346,
+                -0.0008417794570662776,
+                0.001183409476786061
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.0196276328966003,
+            "pour_controller_source_return_step_error_deg": 2.324403794783637,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.0150834089318805,
+            "pour_controller_source_return_best_wrist_position": -1.613570213317871,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.613570213317871,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03316072842086997,
+            "valid_pour_held_xy_dist": 0.02990020351532857,
+            "valid_pour_held_gripper_dist": 0.005409072021516807,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0483139584630559,
+            "valid_pour_source_tilt_deg": 2.324417071690921,
+            "valid_pour_source_upright_tilt_deg": 3.0196211600763365,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.72068100476237e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3294361045161882,
+              -0.002543328868767455,
+              1.0483139584630559
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3198985691548626,
+              0.02116177731504587,
+              1.0483139584630559
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3246673368355254,
+              0.009309224223139208,
+              1.0483139584630559
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3294361045161882,
+              0.02116177731504587,
+              1.0483139584630559
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02555184220275324,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024081702076670087,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.042936561201534426,
+              -0.9986115616761476,
+              0.030518856448311427
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005285455675294701,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038088908002513376,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3294361045161882,
+              -0.002543328868767455,
+              1.0483139584630559
+            ],
+            "held_grasp_finger_b": [
+              0.3198985691548626,
+              0.02116177731504587,
+              1.0483139584630559
+            ],
+            "held_grasp_midpoint": [
+              0.3246673368355254,
+              0.009309224223139208,
+              1.0483139584630559
+            ],
+            "held_grasp_object_position": [
+              0.3294361045161882,
+              0.02116177731504587,
+              1.0483139584630559
+            ],
+            "held_grasp_finger_gap": 0.02555184220275324,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024081702076670087,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.042936561201534426,
+              -0.9986115616761476,
+              0.030518856448311427
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005285455675294701,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038088908002513376,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2911607704881942,
+              -0.1427194061932865,
+              0.7611065146116818
+            ],
+            "target_position": [
+              0.2874924461893208,
+              -0.13897356691796844,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005242891858337386,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21803196958294102,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065146116818,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531934610119087,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870135777523136,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18810182768884345,
+            "release_required_pad_clearance": 0.0535067888761568,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.025181556210387,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dd4e9fbf539d8b852ae98680282002b6813339e1fd244435031a180ced75d03d",
+    "visual_seed": 256906507503750117,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13b0ab9195c7978d21ffe562a651f2b637c2b0ac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_1_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3150119657979912,
+              -0.13423709611365156,
+              1.0038259343003175
+            ],
+            "current_z": 1.0038259343003175,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.1427195454948409,
+            "gripper_z": 1.0049791065137117,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3113519603564981,
+              -0.13809830921576843,
+              1.0049791065137117
+            ],
+            "object_minus_gripper": [
+              0.003660005441493086,
+              0.0038612131021168727,
+              -0.0011531722133941713
+            ],
+            "object_to_gripper_xy": 0.005320207369240226,
+            "object_to_gripper_z": -0.0011531722133941713,
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+              -0.9978958960653265,
+              0.027806345573525015
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+            "held_grasp_object_to_finger_line_xy": 0.005564987253030087,
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+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03830760696451968,
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+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2921704598853913,
+              -0.13461568565152743,
+              0.7611096984768683
+            ],
+            "target_position": [
+              0.29257189145697166,
+              -0.13590545599802348,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0013507978580683368,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2157936106568546,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611096984768683,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531812889625336,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08742733360046427,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18731740340003178,
+            "release_required_pad_clearance": 0.05371366680023214,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4338358083300897,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e848b6d735cb2f4429e0322f0223067279910e832e210cfd19e747e4c19a7e3e",
+    "visual_seed": 1656682029310205656,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a07c3b49ca2fd973600fda3da73901964bbcc0b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_20_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              -0.13649864846743828,
+              1.002290764633098
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+            "lift_margin": 0.14118431622297678,
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+              1.0027955784735172
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+              -0.16003759216560984,
+              1.002290764633098
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+              1.002290764633098
+            ],
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+              0.30663105049959605,
+              -0.14826812031652406,
+              1.002290764633098
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+              0.011769471849085777,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.770146330191967
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+              0.012698229996182059,
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+            "held_position": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.00396264622126704,
+              -0.000642292185801141
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+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7672248eb38bbfd225120f1893d089b80d8fd18290924511de1c582b96d263ea",
+    "visual_seed": 3231757085369605769,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5846f563ef919f4a23b6f22baeb79a5daa4dbd1f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_21_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3150342368840484,
+              -0.1348600567223709,
+              1.001502025714307
+            ],
+            "current_z": 1.001502025714307,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.14039557730418561,
+            "gripper_z": 1.00221206007873,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31110673499657204,
+              -0.13892176331918904,
+              1.00221206007873
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+              0.00392750188747637,
+              0.004061706596818149,
+              -0.0007100343644230733
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+            "object_to_gripper_xy": 0.005650020491535099,
+            "object_to_gripper_z": -0.0007100343644230733,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3150342368840484,
+              -0.15881586518187907,
+              1.001502025714307
+            ],
+            "finger_b": [
+              0.30486782104210625,
+              -0.1348600567223709,
+              1.001502025714307
+            ],
+            "finger_midpoint": [
+              0.30995102896307736,
+              -0.14683796095212498,
+              1.001502025714307
+            ],
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+              0.005083207920971056,
+              0.011977904229754088,
+              0.0
+            ],
+            "finger_gap": 0.02602377317031364,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0515467707179433,
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+            "fingertip_min_top_clearance": 0.015013423501090877,
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+            "object_to_finger_line_xy": 0.009358547241992435,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926819795076244,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.808971607393363,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3175613394982045,
+              0.04462350052469231,
+              0.7701464494012564
+            ],
+            "gripper_position": [
+              0.3210634920441679,
+              0.013255177329032836,
+              1.0469468638913844
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+              0.03136832319565947,
+              -0.27680041449012793
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+            "held_position": [
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+              0.017244597456775545,
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+            "held_minus_target": [
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+              0.2759729416901797
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+            "held_minus_gripper": [
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+              0.003989420127742709,
+              -0.0008274727999482145
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+            "held_gripper_dist": 0.005687519080974886,
+            "max_held_gripper_dist": 0.005694842210921505,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012564,
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+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.0469468638913844,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.39171468820446,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
+            ],
+            "source_start_tilt_deg": 3.5939554079380938,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.1670651284892006,
+            "max_source_tilt_deg": 89.89039843022515,
+            "source_upright_tilt_deg": 2.8991824634210617,
+            "max_source_upright_tilt_deg": 89.99176092601765,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.1670651284892006,
+            "source_upright_return_tilt_deg": 2.8991824634210617,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.705522537231445e-08,
+            "max_target_xy_drift": 1.48311475197929e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3176,
+                0.0446,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0446,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0018,
+                -0.0004
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+              "controller_last_pour_pose_position": [
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+                1.035
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
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+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6140048503875732
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.035
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0010328513048233202,
+                0.0017798718505586688,
+                -0.00036446006153228886
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.89916770582688,
+            "pour_controller_source_return_step_error_deg": 2.1670409029259683,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.8920802278353115,
+            "pour_controller_source_return_best_wrist_position": -1.6140048503875732,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6140048503875732,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03156321866607628,
+            "valid_pour_held_xy_dist": 0.028379790864078207,
+            "valid_pour_held_gripper_dist": 0.005687519080974886,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.0461193910914361,
+            "valid_pour_source_tilt_deg": 2.1670651284892006,
+            "valid_pour_source_upright_tilt_deg": 2.8991824634210617,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.705522537231445e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32503182785482715,
+              -0.006506568594076397,
+              1.0461193910914361
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31514853201061666,
+              0.017244597456775545,
+              1.0461193910914361
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32009017993272193,
+              0.005369014431349574,
+              1.0461193910914361
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32503182785482715,
+              0.017244597456775545,
+              1.0461193910914361
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025725423718946403,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024104602646721533,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03883684285948761,
+              -0.9987200876074568,
+              0.032401948183117146
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005412603214308931,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038051784754369725,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32503182785482715,
+              -0.006506568594076397,
+              1.0461193910914361
+            ],
+            "held_grasp_finger_b": [
+              0.31514853201061666,
+              0.017244597456775545,
+              1.0461193910914361
+            ],
+            "held_grasp_midpoint": [
+              0.32009017993272193,
+              0.005369014431349574,
+              1.0461193910914361
+            ],
+            "held_grasp_object_position": [
+              0.32503182785482715,
+              0.017244597456775545,
+              1.0461193910914361
+            ],
+            "held_grasp_finger_gap": 0.025725423718946403,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024104602646721533,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03883684285948761,
+              -0.9987200876074568,
+              0.032401948183117146
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005412603214308931,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038051784754369725,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2953292494640498,
+              -0.1457356117325095,
+              0.7611064222652012
+            ],
+            "target_position": [
+              0.2921996698388838,
+              -0.13982823241605613,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006685162602264476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21948406697390668,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064222652012,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536741949013827,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08503382798350172,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18927338716873998,
+            "release_required_pad_clearance": 0.05251691399175086,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.10467828136964698,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f754ba7bce5775b91d9fc59d320acdc0900ae801a07dc72769ab25fda51dd0ab",
+    "visual_seed": 2319336413673722391,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34f1aa7197608e3fb34ec390659a2a5de97bbc4b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_23_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31741842129989667,
+              -0.13435902630123683,
+              1.004150994538277
+            ],
+            "current_z": 1.004150994538277,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14304454612815565,
+            "gripper_z": 1.0047453331780516,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3137731431398343,
+              -0.13835411886510768,
+              1.0047453331780516
+            ],
+            "object_minus_gripper": [
+              0.003645278160062382,
+              0.0039950925638708445,
+              -0.0005943386397746497
+            ],
+            "object_to_gripper_xy": 0.005408217586055863,
+            "object_to_gripper_z": -0.0005943386397746497,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31741842129989667,
+              -0.15794439477105338,
+              1.004150994538277
+            ],
+            "finger_b": [
+              0.30713306106693805,
+              -0.13435902630123683,
+              1.004150994538277
+            ],
+            "finger_midpoint": [
+              0.3122757411834174,
+              -0.14615171053614512,
+              1.004150994538277
+            ],
+            "object_minus_finger_midpoint": [
+              0.005142680116479281,
+              0.011792684234908285,
+              0.0
+            ],
+            "finger_gap": 0.025730492435605327,
+            "fingertip_max_gap": 0.0941798379761973,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012865246217802663,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+                "/World/beaker_3"
+              ],
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29734180495797397,
+              -0.13860847668554854,
+              0.7611064886416246
+            ],
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+              0.2949776943052351,
+              -0.13897867655445956,
+              0.7774145980897915
+            ],
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+            "object_z": 0.7611064886416246,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510490778779788,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1888341572578009,
+            "release_required_pad_clearance": 0.05255245389389894,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17245845795634515,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e09145fc1436ab96e1a757e73eac365687497430b2d851dc71bb3ae4426077b9",
+    "visual_seed": 604830809478829860,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..34df9d1a9e0c2c0d86ba6716b47ddb2363895efc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_24_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c7e5563a046b0006c540c6a86830f10de0a6e5179f8a45d1fc51ac7177771b3",
+    "visual_seed": 1813859375322192244,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e54a05203152d1b6bfaa4f487e364634108c99cb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_25_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3140266864004448,
+              -0.13653966452917282,
+              1.0039330504621038
+            ],
+            "current_z": 1.0039330504621038,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.1428266616566275,
+            "gripper_z": 1.0044948691394464,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31029825915989356,
+              -0.14066594276361077,
+              1.0044948691394464
+            ],
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+              0.003728427240551224,
+              0.004126278234437952,
+              -0.0005618186773426181
+            ],
+            "object_to_gripper_xy": 0.005561235632130759,
+            "object_to_gripper_z": -0.0005618186773426181,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3140266864004448,
+              -0.15997781891293322,
+              1.0039330504621038
+            ],
+            "finger_b": [
+              0.3033079244784703,
+              -0.13653966452917282,
+              1.0039330504621038
+            ],
+            "finger_midpoint": [
+              0.30866730543945753,
+              -0.14825874172105302,
+              1.0039330504621038
+            ],
+            "object_minus_finger_midpoint": [
+              0.005359380960987259,
+              0.0117190771918802,
+              0.0
+            ],
+            "finger_gap": 0.02577283333389941,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.054213825240033,
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+            "object_projection_between_fingers": 0.8270323364720934,
+            "object_to_finger_line_xy": 0.009747783391730014,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049681717137453715,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2950260979541226,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3226574174172108,
+              0.04897285517924286,
+              0.7701463897966119
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+            "gripper_position": [
+              0.32407164312635595,
+              0.018038196332506015,
+              1.0471098328844932
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+            "target_minus_gripper": [
+              -0.0014142257091451227,
+              0.030934658846736844,
+              -0.27696344308788134
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+            "held_position": [
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+              0.02205494350412921,
+              1.0464366906701192
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+            "held_minus_target": [
+              0.00523195311803859,
+              -0.026917911675113648,
+              0.27629030087350737
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+            "held_minus_gripper": [
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+              0.004016747171623196,
+              -0.0006731422143739785
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+            "held_gripper_dist": 0.005582331130462585,
+            "max_held_gripper_dist": 0.005590322577007986,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966119,
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+            "gripper_z": 1.0471098328844932,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.41443189738392,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9038706491238107,
+            "max_source_tilt_deg": 89.81370253678968,
+            "source_upright_tilt_deg": 2.8441848188101266,
+            "max_source_upright_tilt_deg": 89.90938739702075,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9038706491238107,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.725290298461914e-08,
+            "max_target_xy_drift": 1.959941750461743e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.049,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.049,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0013,
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
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+                0.2,
+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                "tilt_position_threshold_m": 0.04,
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+                "pour_pose_offset_m": [
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.8441814828425214,
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+              "source_return_effective_target_deg": 8.0,
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+              "wrist_compensated_return_position": -1.6130284070968628
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0013,
+              -0.0009
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+            "pour_controller_controller_last_pour_pose_position": [
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+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0008947543874708904,
+                -0.001338186707133286,
+                -0.0008554485605808679
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.8441814828425214,
+            "pour_controller_source_return_step_error_deg": 1.9038925424452084,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.84035282236139,
+            "pour_controller_source_return_best_wrist_position": -1.6130284070968628,
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+            "pour_controller_wrist_compensated_return_position": -1.6130284070968628,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03096696872992901,
+            "valid_pour_held_xy_dist": 0.02742165754250777,
+            "valid_pour_held_gripper_dist": 0.005582331130462585,
+            "valid_pour_required_height": 0.8001463897966119,
+            "valid_pour_held_z": 1.0464366906701192,
+            "valid_pour_source_tilt_deg": 1.9038706491238107,
+            "valid_pour_source_upright_tilt_deg": 2.8441848188101266,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.725290298461914e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3278893705352494,
+              -0.001343878774082807,
+              1.0464366906701192
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31776152056618523,
+              0.02205494350412921,
+              1.0464366906701192
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32282544555071735,
+              0.010355532365023202,
+              1.0464366906701192
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3278893705352494,
+              0.02205494350412921,
+              1.0464366906701192
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025496631718782473,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023738077405097136,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.036343183972735824,
+              -0.9987681778404852,
+              0.033783130582007104
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054997697594849765,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038219289682220464,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3278893705352494,
+              -0.001343878774082807,
+              1.0464366906701192
+            ],
+            "held_grasp_finger_b": [
+              0.31776152056618523,
+              0.02205494350412921,
+              1.0464366906701192
+            ],
+            "held_grasp_midpoint": [
+              0.32282544555071735,
+              0.010355532365023202,
+              1.0464366906701192
+            ],
+            "held_grasp_object_position": [
+              0.3278893705352494,
+              0.02205494350412921,
+              1.0464366906701192
+            ],
+            "held_grasp_finger_gap": 0.025496631718782473,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023738077405097136,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.036343183972735824,
+              -0.9987681778404852,
+              0.033783130582007104
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0054997697594849765,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038219289682220464,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2898873849099947,
+              -0.1397879400301032,
+              0.7611070461432261
+            ],
+            "target_position": [
+              0.29142773097317537,
+              -0.1397321047237307,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0015413577053344386,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21488357816311301,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611070461432261,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07593052644452818,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562773371179903,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18505637669314431,
+            "release_required_pad_clearance": 0.05281386685589952,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6726002356748316,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "104858b4c8bbf4ee23f16e5ab57fadf8a4e196eb61f62e9f7f7cbe2b62d57807",
+    "visual_seed": 5910422723498893666,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee5dc83538bbebd328ecfb2e3e0ac7bb82095e60
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_26_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3191827447918982,
+              -0.1357218011469151,
+              1.0035343705020792
+            ],
+            "current_z": 1.0035343705020792,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14242792209195798,
+            "gripper_z": 1.0041421557081591,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3152267658276878,
+              -0.13979414780259303,
+              1.0041421557081591
+            ],
+            "object_minus_gripper": [
+              0.003955978964210349,
+              0.004072346655677933,
+              -0.0006077852060799582
+            ],
+            "object_to_gripper_xy": 0.005677479797347238,
+            "object_to_gripper_z": -0.0006077852060799582,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3191827447918982,
+              -0.15972505963173955,
+              1.0035343705020792
+            ],
+            "finger_b": [
+              0.30901859150221916,
+              -0.1357218011469151,
+              1.0035343705020792
+            ],
+            "finger_midpoint": [
+              0.31410066814705867,
+              -0.14772343038932734,
+              1.0035343705020792
+            ],
+            "object_minus_finger_midpoint": [
+              0.005082076644839506,
+              0.012001629242412243,
+              0.0
+            ],
+            "finger_gap": 0.02606657687509793,
+            "fingertip_max_gap": 0.09361116749908507,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013033288437548977,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0035343705020792,
+            "object_top_z": 1.0535796695797908,
+            "finger_top_clearance": 0.0500452990777116,
+            "fingertip_min_top_clearance": 0.015013589723313464,
+            "object_projection_between_fingers": 0.8479542070999533,
+            "object_to_finger_line_xy": 0.009359602523207304,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04930558374954254,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8341520026781684,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29643504441092355,
+              -0.1467750604716783,
+              0.7611064559419745
+            ],
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+              0.29621496328548025,
+              -0.1406201785239446,
+              0.7774145980897915
+            ],
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+            "gripper_dist": 0.21635382764173886,
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+            "object_z": 0.7611064559419745,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539285462210476,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18533911015898014,
+            "release_required_pad_clearance": 0.05269642731105238,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4476235227934117,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6dff16c3be047683e6b8522b9845fa12dac09f5439e26d810a7a15deba6dcffe",
+    "visual_seed": 3873440679866682013,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fe9d50c6e2dbc31eaf48b7594fa3e3a8badcd1c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_27_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+            },
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+          }
+        },
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+      },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.9643050634445,
+            "source_upright_tilt_deg": 2.734628065784106,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9659166400760386,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.470348358154297e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0e611631535bec0182231a17bf17c3102c055ebdc7f1e5ca119f976e7f7a0d45",
+    "visual_seed": 4724308259581295509,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e7c923789d2c07ec8c766d55045660c72b28008
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_28_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.143906154658885e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32460297331414617,
+              -0.007889299131563537,
+              1.0477137447469145
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31492615078623276,
+              0.01571447519743782,
+              1.0477137447469145
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31976456205018944,
+              0.003912588032937142,
+              1.0477137447469145
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32460297331414617,
+              0.01571447519743782,
+              1.0477137447469145
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025510371553765267,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02393042697881506,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03612647487413139,
+              -0.9990282555754566,
+              0.025247225095624826
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005269918710217695,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03810462606660362,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32460297331414617,
+              -0.007889299131563537,
+              1.0477137447469145
+            ],
+            "held_grasp_finger_b": [
+              0.31492615078623276,
+              0.01571447519743782,
+              1.0477137447469145
+            ],
+            "held_grasp_midpoint": [
+              0.31976456205018944,
+              0.003912588032937142,
+              1.0477137447469145
+            ],
+            "held_grasp_object_position": [
+              0.32460297331414617,
+              0.01571447519743782,
+              1.0477137447469145
+            ],
+            "held_grasp_finger_gap": 0.025510371553765267,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02393042697881506,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03612647487413139,
+              -0.9990282555754566,
+              0.025247225095624826
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005269918710217695,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03810462606660362,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.28003679890526695,
+              -0.11749810545618483,
+              0.7611064977987045
+            ],
+            "target_position": [
+              0.2897247364044563,
+              -0.1349649816533497,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01997368010846482,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21119325549698761,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064977987045,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08127421605167034,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08836839167876333,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18698053298341594,
+            "release_required_pad_clearance": 0.054184195839381666,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3844647146981357,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 189,
+            "max_placed_release_frames": 189
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb054ee3b8b53ccf40efddc89a3d32cc6273b76edaf1a769ef6418d9d821bb5b",
+    "visual_seed": 6719023120385333741,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74bdf0db79746fc63f9421ce2819f7b21b835b9e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_29_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3125692741234828,
+              -0.13598843616338793,
+              1.0034659479412231
+            ],
+            "current_z": 1.0034659479412231,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14235943992645717,
+            "gripper_z": 1.0039830879355358,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30883643914366204,
+              -0.14010308490486623,
+              1.0039830879355358
+            ],
+            "object_minus_gripper": [
+              0.0037328349798207427,
+              0.004114648741478294,
+              -0.0005171399943126875
+            ],
+            "object_to_gripper_xy": 0.005555572990459421,
+            "object_to_gripper_z": -0.0005171399943126875,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3125692741234828,
+              -0.15948195582137756,
+              1.0034659479412231
+            ],
+            "finger_b": [
+              0.3019216624593276,
+              -0.13598843616338793,
+              1.0034659479412231
+            ],
+            "finger_midpoint": [
+              0.3072454682914052,
+              -0.14773519599238275,
+              1.0034659479412231
+            ],
+            "object_minus_finger_midpoint": [
+              0.005323805832077588,
+              0.011746759828994813,
+              0.0
+            ],
+            "finger_gap": 0.02579374149034991,
+            "fingertip_max_gap": 0.09372729001154881,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012896870745174954,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0034659479412231,
+            "object_top_z": 1.0536748897847381,
+            "finger_top_clearance": 0.05020894184351499,
+            "fingertip_min_top_clearance": 0.015062682553054478,
+            "object_projection_between_fingers": 0.8295975946829637,
+            "object_to_finger_line_xy": 0.009698084088966165,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049363645005774406,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.682527238477187,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
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+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
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+              -0.13767600481346545,
+              0.7611064255050393
+            ],
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+            "force_virtual_attach": false,
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+            "object_tilt_deg": 1.4740268850998215,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 188,
+            "max_placed_release_frames": 188
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7997fef32a56e78ed737739ee0b70a01d965ea10762b2fcff4b3df9b8557b248",
+    "visual_seed": 7807225407490932345,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3dddf42b8b5120bed6b723cb35d9292b432ceb3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_2_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.725290298461914e-09,
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+            "target_upright_reference_source": "scene_initial",
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+    "task_island_state_digest": "dbb0e90d525e8cc574dd404beaf136ad55a9ab8eec03ef2362843da3c027eb5e",
+    "visual_seed": 41396256523430727,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b856f9e398099dd2463801ec53c924c8b7927cd1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_31_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+              0.003965252305900946,
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+              1.0028861989873339
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+              -0.1502753763148464,
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+              0.0
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+            ],
+            "stable_success_frames": 166,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.02017331481834847,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              0.3263552130238637,
+              0.02409712289949526,
+              1.0462143746361634
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02541563578090297,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02387721347832216,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05113033398688256,
+              -0.9980315571744904,
+              0.03631390684368663
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005546209531927941,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03828660693394504,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3263552130238637,
+              0.0006787753459571057,
+              1.0462143746361634
+            ],
+            "held_grasp_finger_b": [
+              0.31647920472044433,
+              0.02409712289949526,
+              1.0462143746361634
+            ],
+            "held_grasp_midpoint": [
+              0.321417208872154,
+              0.012387949122726184,
+              1.0462143746361634
+            ],
+            "held_grasp_object_position": [
+              0.3263552130238637,
+              0.02409712289949526,
+              1.0462143746361634
+            ],
+            "held_grasp_finger_gap": 0.02541563578090297,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02387721347832216,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05113033398688256,
+              -0.9980315571744904,
+              0.03631390684368663
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005546209531927941,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03828660693394504,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.276413907924835,
+              -0.12193740574464697,
+              0.761106401250989
+            ],
+            "target_position": [
+              0.2952776871237593,
+              -0.14148692774390037,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.027166633506289686,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20549364472429393,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106401250989,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08324062961958363,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852372315679462,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18249617752952413,
+            "release_required_pad_clearance": 0.0526186157839731,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2987068541352065,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99aa3aab95011cfb856aea0aabeebdc6bd5dae36518cb231d61d7722f0706005",
+    "visual_seed": 1681592234553988750,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a70c691d975335654004b5f5d1ff08a2a07fc4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_32_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3095625280113636,
+              -0.13382906203994396,
+              1.0026148620701365
+            ],
+            "current_z": 1.0026148620701365,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14150841366001532,
+            "gripper_z": 1.0036840689133966,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3059497434713797,
+              -0.1378782030826787,
+              1.0036840689133966
+            ],
+            "object_minus_gripper": [
+              0.003612784539983871,
+              0.0040491410427347385,
+              -0.001069206843260062
+            ],
+            "object_to_gripper_xy": 0.005426578601320121,
+            "object_to_gripper_z": -0.001069206843260062,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3095625280113636,
+              -0.15720766923942073,
+              1.0026148620701365
+            ],
+            "finger_b": [
+              0.2989946641111302,
+              -0.13382906203994396,
+              1.0026148620701365
+            ],
+            "finger_midpoint": [
+              0.30427859606124685,
+              -0.14551836563968235,
+              1.0026148620701365
+            ],
+            "object_minus_finger_midpoint": [
+              0.005283931950116727,
+              0.011689303599738382,
+              0.0
+            ],
+            "finger_gap": 0.025656169277608127,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012828084638804074,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0026148620701365,
+            "object_top_z": 1.0527861816721418,
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+            "fingertip_min_top_clearance": 0.01505139588060158,
+            "object_projection_between_fingers": 0.8303355716069373,
+            "object_to_finger_line_xy": 0.009629728288264564,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04932844578390132,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9149130370672998,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2927473861218234,
+              -0.13628883880575066,
+              0.7611063913958582
+            ],
+            "target_position": [
+              0.28730108827779705,
+              -0.1368977705273467,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005480233393516361,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22064030153840147,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063913958582,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759271054532503,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08803063726938658,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19063973787090518,
+            "release_required_pad_clearance": 0.05401531863469329,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.042199177680445,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c031990d337ed8b258c712f2a9a39aa1338fb3ad7da4cac6ec7fe1c39ec938cf",
+    "visual_seed": 6200215589178515068,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ca327ee4a37432d3d2ff831b55d70a869b4beff
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_33_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3186918059227593,
+              -0.13907132354364904,
+              1.001164038285363
+            ],
+            "current_z": 1.001164038285363,
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+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.14005758987524164,
+            "gripper_z": 1.0022643766537924,
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+            "gripper_position": [
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+              -0.14307348703838807,
+              1.0022643766537924
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+              0.0040021634947390305,
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+            ],
+            "object_to_gripper_xy": 0.0055235369747750306,
+            "object_to_gripper_z": -0.0011003383684293766,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3186918059227593,
+              -0.16294153041381249,
+              1.001164038285363
+            ],
+            "finger_b": [
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+              -0.13907132354364904,
+              1.001164038285363
+            ],
+            "finger_midpoint": [
+              0.31365626500495064,
+              -0.15100642697873076,
+              1.001164038285363
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011935103435081723,
+              0.0
+            ],
+            "finger_gap": 0.02590778773581603,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015053563532673335,
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+            "object_to_finger_line_xy": 0.009279017153988578,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04923495213602809,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7016685316752085,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31987662231985964,
+              0.04470811676853157,
+              0.7701464494012564
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+            "gripper_position": [
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+              0.013258934991399032,
+              1.0490311086088797
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+            "held_position": [
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+              0.017188328536882708,
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+            "held_minus_target": [
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+              0.003929393545483675,
+              -0.0012161808318766898
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+            "max_held_gripper_dist": 0.00563971088869358,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.0490311086088797,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.37118313955939,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 3.422922225538951,
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+            "source_tilt_deg": 2.0523019324136023,
+            "max_source_tilt_deg": 89.85569997380884,
+            "source_upright_tilt_deg": 2.828619556997854,
+            "max_source_upright_tilt_deg": 89.66355304692966,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0523019324136023,
+            "source_upright_return_tilt_deg": 2.828619556997854,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.83872392426648e-08,
+            "max_target_xy_drift": 1.6049041769309353e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3199,
+                0.0447,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0447,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0015,
+                0.0017
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+              "controller_last_pour_pose_position": [
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+                1.037
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                  0.0014943192491460077,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "source_return_best_wrist_position": -1.614528775215149,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.614528775215149
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3199,
+              0.0447,
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0011,
+              0.0015,
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+            "pour_controller_controller_t": 0.0,
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+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0010899115198608044,
+                0.0014943192491460077,
+                0.0016871720616330578
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.8286081985648117,
+            "pour_controller_source_return_step_error_deg": 2.052385981976492,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.822556215518524,
+            "pour_controller_source_return_best_wrist_position": -1.614528775215149,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.614528775215149,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.031644109446688565,
+            "valid_pour_held_xy_dist": 0.028483474616429225,
+            "valid_pour_held_gripper_dist": 0.0056267820912773115,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.047814927777003,
+            "valid_pour_source_tilt_deg": 2.0523019324136023,
+            "valid_pour_source_upright_tilt_deg": 2.828619556997854,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.83872392426648e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32722302156778843,
+              -0.006417849169964886,
+              1.047814927777003
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3173685945631897,
+              0.017188328536882708,
+              1.047814927777003
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3222958080654891,
+              0.005385239683458911,
+              1.047814927777003
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32722302156778843,
+              0.017188328536882708,
+              1.047814927777003
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025580487827956536,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023968008467720785,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03963620201203569,
+              -0.9987816198390475,
+              0.029398084321083033
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054021415692008965,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.0381268378957018,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32722302156778843,
+              -0.006417849169964886,
+              1.047814927777003
+            ],
+            "held_grasp_finger_b": [
+              0.3173685945631897,
+              0.017188328536882708,
+              1.047814927777003
+            ],
+            "held_grasp_midpoint": [
+              0.3222958080654891,
+              0.005385239683458911,
+              1.047814927777003
+            ],
+            "held_grasp_object_position": [
+              0.32722302156778843,
+              0.017188328536882708,
+              1.047814927777003
+            ],
+            "held_grasp_finger_gap": 0.025580487827956536,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023968008467720785,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03963620201203569,
+              -0.9987816198390475,
+              0.029398084321083033
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0054021415692008965,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0381268378957018,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2798833477053465,
+              -0.12419645374586402,
+              0.7611063306096514
+            ],
+            "target_position": [
+              0.2960790452976828,
+              -0.14219442852615363,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02421213986194423,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20428333394783338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063306096514,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08278465287700279,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08769119138709346,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18049693055603075,
+            "release_required_pad_clearance": 0.05384559569354673,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.700623757832724,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 185,
+            "max_placed_release_frames": 185
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "30d42bd7d288836e57f308fbe7a2d7d68d23c468a68b50accd7690235ac5de00",
+    "visual_seed": 2436289683158435559,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5462850ec7e81be4e8ed0d09dc12e450b9e5e8f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_34_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.323542499827122,
+              0.000988504567087673,
+              1.0463522698720484
+            ],
+            "held_grasp_finger_b": [
+              0.3133234488523992,
+              0.024228320011872015,
+              1.0463522698720484
+            ],
+            "held_grasp_midpoint": [
+              0.3184329743397606,
+              0.012608412289479844,
+              1.0463522698720484
+            ],
+            "held_grasp_object_position": [
+              0.323542499827122,
+              0.024228320011872015,
+              1.0463522698720484
+            ],
+            "held_grasp_finger_gap": 0.02538735954627066,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02363634630176493,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04236369511210673,
+              -0.9984343290963694,
+              0.036526809583252495
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005612970968467927,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03833499367904083,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29099934713110276,
+              -0.13609808545394705,
+              0.7611094418450737
+            ],
+            "target_position": [
+              0.29329367513963184,
+              -0.1385251525239324,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0033398496332811612,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2131440978929733,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611094418450737,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568381016174015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09142185084235276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1845271694961233,
+            "release_required_pad_clearance": 0.05571092542117638,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.5876791133093455,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e0c5216e265af0bb102a5a5095fe47c3510e3c11e6ff69b2f5b51bf8f8cf18f",
+    "visual_seed": 2988093491228912077,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da18317532aa75e4115b274d1ff41e0e21767b3b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_35_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3128837867580326,
+              -0.1376003800803162,
+              1.002121215465501
+            ],
+            "current_z": 1.002121215465501,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14101470745073497,
+            "gripper_z": 1.0032090531882507,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30953838087880603,
+              -0.14143652982060947,
+              1.0032090531882507
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+              0.0033454058792265484,
+              0.003836149740293282,
+              -0.0010878377227496738
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+            "object_to_gripper_xy": 0.005089969088974487,
+            "object_to_gripper_z": -0.0010878377227496738,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3128837867580326,
+              -0.1610748974683303,
+              1.002121215465501
+            ],
+            "finger_b": [
+              0.3029946181058093,
+              -0.1376003800803162,
+              1.002121215465501
+            ],
+            "finger_midpoint": [
+              0.30793920243192097,
+              -0.14933763877432327,
+              1.002121215465501
+            ],
+            "object_minus_finger_midpoint": [
+              0.004944584326111612,
+              0.011737258694007074,
+              0.0
+            ],
+            "finger_gap": 0.025472507203498695,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0522410766027976,
+            "finger_top_clearance": 0.050119861137296606,
+            "fingertip_min_top_clearance": 0.015035958341188982,
+            "object_projection_between_fingers": 0.8492781626861772,
+            "object_to_finger_line_xy": 0.009113490856044766,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049181007072027785,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.033506865850668,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18281431544800905,
+            "release_required_pad_clearance": 0.05275786304504221,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5287295336806135,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 188,
+            "max_placed_release_frames": 188
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "253d9e9b2aca4c7e59d918d6ef1ceafa59c5e86df2b4fdf1ba6576675878d09c",
+    "visual_seed": 8124128580974335465,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf287f088657e4ed97ff0b606ad73720b34ddedc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_36_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3128352655642848,
+              -0.13036858174779462,
+              1.0029766917845993
+            ],
+            "current_z": 1.0029766917845993,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1418701837698333,
+            "gripper_z": 1.004011097854726,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30939430530864437,
+              -0.1342924992466812,
+              1.004011097854726
+            ],
+            "object_minus_gripper": [
+              0.003440960255640446,
+              0.003923917498886598,
+              -0.0010344060701268365
+            ],
+            "object_to_gripper_xy": 0.005218940124102366,
+            "object_to_gripper_z": -0.0010344060701268365,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3128352655642848,
+              -0.15389191213287468,
+              1.0029766917845993
+            ],
+            "finger_b": [
+              0.3027699742316061,
+              -0.13036858174779462,
+              1.0029766917845993
+            ],
+            "finger_midpoint": [
+              0.30780261989794544,
+              -0.14213024694033466,
+              1.0029766917845993
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011761665192540044,
+              0.0
+            ],
+            "finger_gap": 0.0255862690132291,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009253759245565058,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919516432112296,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0789043694389964,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3237675241238301,
+              0.04527566474550226,
+              0.7701464494012568
+            ],
+            "gripper_position": [
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+              0.011505415346191566,
+              1.0482298575072244
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+              0.03377024939931069,
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+            "held_position": [
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+              0.015304337801009572,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.003798922454818006,
+              -0.001156010779438832
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+            "max_held_gripper_dist": 0.005325280523788354,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012568,
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+            "gripper_z": 1.0482298575072244,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.42110499220301,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              1.0
+            ],
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.0745793947950144,
+            "max_source_tilt_deg": 89.8725425626562,
+            "source_upright_tilt_deg": 1.947423539170224,
+            "max_source_upright_tilt_deg": 89.84578794358099,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0745793947950144,
+            "source_upright_return_tilt_deg": 1.947423539170224,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.835048603956173e-08,
+            "max_target_xy_drift": 2.1606683731079102e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0453,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0453,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6136406660079956
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
+              0.3238,
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+            "pour_controller_controller_target_position": [
+              0.3238,
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+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0019,
+              -0.0017,
+              0.0001
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3257,
+              0.0184,
+              1.0354
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
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+              0.3,
+              0.4
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+              0.2,
+              0.2
+            ],
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0019110006812817545,
+                -0.0017176853795479114,
+                0.00010183448409506511
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.9474270238156624,
+            "pour_controller_source_return_step_error_deg": 2.074584250425177,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.0663239057797873,
+            "pour_controller_source_return_best_wrist_position": -1.6136406660079956,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6136406660079956,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03395092312642592,
+            "valid_pour_held_xy_dist": 0.030785214530020324,
+            "valid_pour_held_gripper_dist": 0.005315814828900814,
+            "valid_pour_required_height": 0.8001464494012568,
+            "valid_pour_held_z": 1.0470738467277856,
+            "valid_pour_source_tilt_deg": 2.0745793947950144,
+            "valid_pour_source_upright_tilt_deg": 1.947423539170224,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.835048603956173e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.33079952205085633,
+              -0.008289546439619462,
+              1.0470738467277856
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.321318368796403,
+              0.015304337801009572,
+              1.0470738467277856
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3260589454236297,
+              0.003507395680695055,
+              1.0470738467277856
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.33079952205085633,
+              0.015304337801009572,
+              1.0470738467277856
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.0254276157080178,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023846103796237098,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.028039471606447028,
+              -0.999422436266637,
+              0.019198487411551834
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005074492397795934,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038063044699451126,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.33079952205085633,
+              -0.008289546439619462,
+              1.0470738467277856
+            ],
+            "held_grasp_finger_b": [
+              0.321318368796403,
+              0.015304337801009572,
+              1.0470738467277856
+            ],
+            "held_grasp_midpoint": [
+              0.3260589454236297,
+              0.003507395680695055,
+              1.0470738467277856
+            ],
+            "held_grasp_object_position": [
+              0.33079952205085633,
+              0.015304337801009572,
+              1.0470738467277856
+            ],
+            "held_grasp_finger_gap": 0.0254276157080178,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023846103796237098,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.028039471606447028,
+              -0.999422436266637,
+              0.019198487411551834
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005074492397795934,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038063044699451126,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2739706807071249,
+              -0.11670730575036647,
+              0.7611099416134537
+            ],
+            "target_position": [
+              0.2905212492333921,
+              -0.13500397611350945,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02467163279801688,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20755490327477003,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611099416134537,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0830545977051488,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09123582435466816,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18346375982857357,
+            "release_required_pad_clearance": 0.05561791217733408,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.395025240260513,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5f7014d7ea6975c7da24cb6014ae68b37e4e226f888c7c260fabe9fe6df2783",
+    "visual_seed": 3810310550782155756,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_37_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67d957899f3d681af8199cdd8bb1e8e5e6c9332c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_37_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.314098620311209,
+              -0.1384608098625355,
+              1.0046483470297707
+            ],
+            "current_z": 1.0046483470297707,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.14354195822429405,
+            "gripper_z": 1.0057307010314862,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3100714733721105,
+              -0.14259744121879386,
+              1.0057307010314862
+            ],
+            "object_minus_gripper": [
+              0.004027146939098503,
+              0.004136631356258358,
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05366284341454162,
+              -0.9981041004773534,
+              0.030141397561486816
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.005770215469894664,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038203175741347205,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2931310334717871,
+              -0.16517454834886197,
+              0.7611063872969763
+            ],
+            "target_position": [
+              0.2914876841338154,
+              -0.14218435841004404,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02304884878837851,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2196804893603881,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063872969763,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757566311126092,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09391402716797657,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18547783004031965,
+            "release_required_pad_clearance": 0.05695701358398829,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.422372622854198,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 182,
+            "max_placed_release_frames": 182
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb5a4ca89440373fa043f4bff0e3fb46f9dc4a43066bebd2922a5642952de077",
+    "visual_seed": 8419800821021041746,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bd7ea5471442e56f5a5fa3f208ac5b4c4b78b52
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_38_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.314988353453842,
+              -0.1307418888481576,
+              1.0032332671430573
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+            "gripper_position": [
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+              -0.1346710132478915,
+              1.0044245422800957
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+              0.003929124399733891,
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+            "object_to_gripper_z": -0.0011912751370384278,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.314988353453842,
+              -0.15412208447260317,
+              1.0032332671430573
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+            "finger_b": [
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+              -0.1307418888481576,
+              1.0032332671430573
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+            "finger_midpoint": [
+              0.30985099182781883,
+              -0.14243198666038037,
+              1.0032332671430573
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+              0.011690097812222772,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009406470894097456,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04939030613594052,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0676046175885836,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05065167960398652,
+              0.770146330191967
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+            "gripper_position": [
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+              0.018435813650882982,
+              1.0469665459461994
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+            "target_minus_gripper": [
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+              0.03221586595310354,
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+            "held_position": [
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+              0.022225761522364138,
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+            "held_minus_target": [
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+              -0.02842591808162238,
+              0.2755057376321536
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+            "held_minus_gripper": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3184844fb157407adaefe01b20909725cea30ea6e1e6726387bcee400d9eb3c2",
+    "visual_seed": 695505306337631657,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea8f678916a9f81780e1e255e048ada64536bfd2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_39_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              -0.13442791195939796,
+              1.0045754501153632
+            ],
+            "current_z": 1.0045754501153632,
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+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.1434690613098869,
+            "gripper_z": 1.0055113147979469,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3087024689019117,
+              -0.1384095949235181,
+              1.0055113147979469
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+              0.00363528833366622,
+              0.003981682964120131,
+              -0.0009358646825836647
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+            "object_to_gripper_xy": 0.0053915786645150785,
+            "object_to_gripper_z": -0.0009358646825836647,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.31233775723557794,
+              -0.1580241752161449,
+              1.0045754501153632
+            ],
+            "finger_b": [
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+              -0.13442791195939796,
+              1.0045754501153632
+            ],
+            "finger_midpoint": [
+              0.307221534106509,
+              -0.14622604358777141,
+              1.0045754501153632
+            ],
+            "object_minus_finger_midpoint": [
+              0.005116223129068953,
+              0.011798131628373454,
+              0.0
+            ],
+            "finger_gap": 0.025719381720939266,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.01504415915084104,
+            "object_projection_between_fingers": 0.841715679438073,
+            "object_to_finger_line_xy": 0.009387764382802538,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049298798034557736,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8158050153767427,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3166980258232777,
+              0.04133497443669297,
+              0.7701463897966117
+            ],
+            "gripper_position": [
+              0.3193086325542689,
+              0.009166399705560851,
+              1.0454103130058685
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+            "target_minus_gripper": [
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+              0.03216857473113212,
+              -0.27526392320925686
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+            "held_position": [
+              0.3230550386300432,
+              0.01300539802890818,
+              1.0443535454801425
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+            "held_minus_target": [
+              0.006357012806765483,
+              -0.02832957640778479,
+              0.2742071556835308
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+            "held_minus_gripper": [
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+              0.003838998323347328,
+              -0.0010567675257260323
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+            "held_gripper_dist": 0.0054671952786315755,
+            "max_held_gripper_dist": 0.005476394403233997,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0454103130058685,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.4185573316426,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.3371808209738534,
+            "max_source_tilt_deg": 89.93846852230364,
+            "source_upright_tilt_deg": 2.1326270685060775,
+            "max_source_upright_tilt_deg": 89.67184717334598,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.3371808209738534,
+            "source_upright_return_tilt_deg": 2.1326270685060775,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.725290298461914e-08,
+            "max_target_xy_drift": 9.010275172030794e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3167,
+                0.0413,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.3167,
+                0.0413,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0004,
+                -0.002
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+              "controller_last_pour_pose_position": [
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+                1.0334
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.132969909484572,
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+              "wrist_compensated_return_position": -1.6144200563430786
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0004,
+              -0.002
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0166,
+              1.0334
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0006885619773840156,
+                0.0004382759608648882,
+                -0.0019934541517468824
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.132969909484572,
+            "pour_controller_source_return_step_error_deg": 2.337257998920048,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.323097167097973,
+            "pour_controller_source_return_best_wrist_position": -1.6144200563430786,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6144200563430786,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03227433140649591,
+            "valid_pour_held_xy_dist": 0.02903405778167938,
+            "valid_pour_held_gripper_dist": 0.0054671952786315755,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0443535454801425,
+            "valid_pour_source_tilt_deg": 2.3371808209738534,
+            "valid_pour_source_upright_tilt_deg": 2.1326270685060775,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.725290298461914e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3230550386300432,
+              -0.01068776116248608,
+              1.0443535454801425
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31351891710359353,
+              0.01300539802890818,
+              1.0443535454801425
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31828697786681837,
+              0.0011588184332110493,
+              1.0443535454801425
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3230550386300432,
+              0.01300539802890818,
+              1.0443535454801425
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02554023113121663,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023878524538948762,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02115911223872196,
+              -0.9993073731530197,
+              0.030611532651612754
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005030632612327101,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03798276366632092,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3230550386300432,
+              -0.01068776116248608,
+              1.0443535454801425
+            ],
+            "held_grasp_finger_b": [
+              0.31351891710359353,
+              0.01300539802890818,
+              1.0443535454801425
+            ],
+            "held_grasp_midpoint": [
+              0.31828697786681837,
+              0.0011588184332110493,
+              1.0443535454801425
+            ],
+            "held_grasp_object_position": [
+              0.3230550386300432,
+              0.01300539802890818,
+              1.0443535454801425
+            ],
+            "held_grasp_finger_gap": 0.02554023113121663,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023878524538948762,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02115911223872196,
+              -0.9993073731530197,
+              0.030611532651612754
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005030632612327101,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03798276366632092,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.288464274116124,
+              -0.13678426495288853,
+              0.7611063928622586
+            ],
+            "target_position": [
+              0.2898266800645754,
+              -0.13562732061223212,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0017873640300041333,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21586504374884466,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063928622586,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548026904538056,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640588846103174,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18665407762871725,
+            "release_required_pad_clearance": 0.05320294423051587,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4281791658602152,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78ef8c9acdf94f81dce2a5389ce7b6c0e2f6f19869b665f83fdfd5bc2f0565c4",
+    "visual_seed": 820793332953413633,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b35ac4ff3d1d9c77cde0d029b0c4b3b81bab4df
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_3_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3179174656468211,
+              -0.1310758554504571,
+              1.0042051754955432
+            ],
+            "current_z": 1.0042051754955432,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1430986078761326,
+            "gripper_z": 1.0055896006042109,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3142399083480475,
+              -0.13499472567595652,
+              1.0055896006042109
+            ],
+            "object_minus_gripper": [
+              0.003677557298773615,
+              0.003918870225499416,
+              -0.001384425108667653
+            ],
+            "object_to_gripper_xy": 0.005374194965766401,
+            "object_to_gripper_z": -0.001384425108667653,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3179174656468211,
+              -0.15489155387954964,
+              1.0042051754955432
+            ],
+            "finger_b": [
+              0.3080160819477075,
+              -0.1310758554504571,
+              1.0042051754955432
+            ],
+            "finger_midpoint": [
+              0.31296677379726434,
+              -0.14298370466500337,
+              1.0042051754955432
+            ],
+            "object_minus_finger_midpoint": [
+              0.004950691849556765,
+              0.011907849214546268,
+              0.0
+            ],
+            "finger_gap": 0.025791953993882528,
+            "fingertip_max_gap": 0.09337296991601032,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012895976996941253,
+            "object_to_finger_midpoint_z": 0.0,
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+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29559547377881035,
+              -0.13293109491188282,
+              0.7611070804949324
+            ],
+            "target_position": [
+              0.29541123736818403,
+              -0.13596003854588132,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003034541578713414,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21638056460513086,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611070804949324,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075510267259788,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859094776884675,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1881426792012859,
+            "release_required_pad_clearance": 0.052954738844233754,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9454246886336017,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 189,
+            "max_placed_release_frames": 189
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c0721dff677229c252deea87854bb060b38a08e0730beeccf9128513b80d061",
+    "visual_seed": 7870175416273462891,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a00f2ca4d0b9c54e13976ba13441e82cababd94
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_40_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              1.0028933894327619
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+              1.0028933894327619
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+              -0.14748042412112786,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05053278696411109,
+              0.7701463897966118
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+              0.004035198203430623,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966118,
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+            "required_height": 0.8001463897966118,
+            "gripper_z": 1.0461767879484583,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.49353231816184,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "74c10aefbb75e2e3da9c31d17ffb33ac75793e137dc13dbca03cdcba46fc73a8",
+    "visual_seed": 1795868079118786636,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f9a89c917c7f815f56560a5b56ba4f0c76216ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_41_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3161038490279333,
+              -0.13902561738644828,
+              1.0017760438242935
+            ],
+            "current_z": 1.0017760438242935,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14066953580952735,
+            "gripper_z": 1.0028887561179545,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3122772214998914,
+              -0.14305441146779077,
+              1.0028887561179545
+            ],
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+              0.003826627528041915,
+              0.0040287940813424905,
+              -0.0011127122936609446
+            ],
+            "object_to_gripper_xy": 0.005556461102916897,
+            "object_to_gripper_z": -0.0011127122936609446,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3161038490279333,
+              -0.16286523777798456,
+              1.0017760438242935
+            ],
+            "finger_b": [
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+              -0.13902561738644828,
+              1.0017760438242935
+            ],
+            "finger_midpoint": [
+              0.3110205524453624,
+              -0.1509454275822164,
+              1.0017760438242935
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011919810195768127,
+              0.0
+            ],
+            "finger_gap": 0.02591692722909217,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015063982011166425,
+            "object_projection_between_fingers": 0.8461193999857447,
+            "object_to_finger_line_xy": 0.009351715177874375,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049397436595628855,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8671758313801083,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.32199640190665174,
+              0.041806145428352134,
+              0.7701463897966115
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+            "gripper_position": [
+              0.3240407730002465,
+              0.010703325474978487,
+              1.0455145046517076
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+            "target_minus_gripper": [
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+              0.031102819953373648,
+              -0.27536811485509605
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+            "held_position": [
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+              0.014701005004755102,
+              1.0442836763670287
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+            "held_minus_target": [
+              0.005859470464907812,
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+              0.27413728657041714
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+            "held_minus_gripper": [
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+              0.0039976795297766154,
+              -0.0012308282846789087
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+            "held_gripper_dist": 0.005661392328937649,
+            "max_held_gripper_dist": 0.005677973508440547,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966115,
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+            "required_height": 0.8001463897966116,
+            "gripper_z": 1.0455145046517076,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.4386722387483,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.7480878126421229,
+            "max_source_tilt_deg": 89.87905282835654,
+            "source_upright_tilt_deg": 3.5462495483388263,
+            "max_source_upright_tilt_deg": 89.98584673136594,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.7480878126421229,
+            "source_upright_return_tilt_deg": 3.5462495483388263,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.862645149230957e-08,
+            "max_target_xy_drift": 1.3783574104309082e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.322,
+                0.0418,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0418,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0015,
+                -0.0017
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+                  0.001541980834538604,
+                  -0.0017022498370303522
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "source_return_effective_target_deg": 8.0,
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+              "wrist_compensated_return_position": -1.6153165102005005
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              0.7701
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0015,
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0181,
+              1.0336
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0017608521292812225,
+                0.001541980834538604,
+                -0.0017022498370303522
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.5462620015565163,
+            "pour_controller_source_return_step_error_deg": 1.748022272782513,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.5429698222777235,
+            "pour_controller_source_return_best_wrist_position": -1.6153165102005005,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6153165102005005,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.031169935229645628,
+            "valid_pour_held_xy_dist": 0.027731246483200876,
+            "valid_pour_held_gripper_dist": 0.005661392328937649,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0442836763670287,
+            "valid_pour_source_tilt_deg": 1.7480878126421229,
+            "valid_pour_source_upright_tilt_deg": 3.5462495483388263,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.862645149230957e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32785587237155955,
+              -0.008688186313649898,
+              1.0442836763670287
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31764224088351106,
+              0.014701005004755102,
+              1.0442836763670287
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3227490566275353,
+              0.003006409345552602,
+              1.0442836763670287
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32785587237155955,
+              0.014701005004755102,
+              1.0442836763670287
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02552200107167554,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02389336791033582,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.053747989189123255,
+              -0.9980852025937614,
+              0.030611795463451164
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005738908645125835,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03832252826972847,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32785587237155955,
+              -0.008688186313649898,
+              1.0442836763670287
+            ],
+            "held_grasp_finger_b": [
+              0.31764224088351106,
+              0.014701005004755102,
+              1.0442836763670287
+            ],
+            "held_grasp_midpoint": [
+              0.3227490566275353,
+              0.003006409345552602,
+              1.0442836763670287
+            ],
+            "held_grasp_object_position": [
+              0.32785587237155955,
+              0.014701005004755102,
+              1.0442836763670287
+            ],
+            "held_grasp_finger_gap": 0.02552200107167554,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02389336791033582,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.053747989189123255,
+              -0.9980852025937614,
+              0.030611795463451164
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005738908645125835,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03832252826972847,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.27753186947533587,
+              -0.13094781724097773,
+              0.7611215245397768
+            ],
+            "target_position": [
+              0.2934173953309516,
+              -0.14118196637433475,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01889676533677732,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20638892536875406,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611215245397768,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07762764001191501,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09017379426102902,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18061678210019777,
+            "release_required_pad_clearance": 0.05508689713051451,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.2242891799940026,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9565cdaac53d0785843c1579f3708c7fe216df267d994ed249bd70781f8dded9",
+    "visual_seed": 239758679951173275,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e154a2269056f7ef28fd8f3979148515f2ba6768
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_42_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31203718419267434,
+              -0.13200288910892963,
+              1.0045415996578746
+            ],
+            "current_z": 1.0045415996578746,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14343509164310853,
+            "gripper_z": 1.0061314903029828,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3081910394056463,
+              -0.13600146340274133,
+              1.0061314903029828
+            ],
+            "object_minus_gripper": [
+              0.0038461447870280496,
+              0.003998574293811702,
+              -0.0015898906451081718
+            ],
+            "object_to_gripper_xy": 0.005548101126143502,
+            "object_to_gripper_z": -0.0015898906451081718,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31203718419267434,
+              -0.15593297713820473,
+              1.0045415996578746
+            ],
+            "finger_b": [
+              0.30202771070786083,
+              -0.13200288910892963,
+              1.0045415996578746
+            ],
+            "finger_midpoint": [
+              0.3070324474502676,
+              -0.14396793312356718,
+              1.0045415996578746
+            ],
+            "object_minus_finger_midpoint": [
+              0.005004736742406757,
+              0.01196504401463755,
+              0.0
+            ],
+            "finger_gap": 0.02593913399734155,
+            "fingertip_max_gap": 0.09370057124247741,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012969566998670775,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0045415996578746,
+            "object_top_z": 1.0547763002121622,
+            "finger_top_clearance": 0.05023470055428758,
+            "fingertip_min_top_clearance": 0.015070410166286274,
+            "object_projection_between_fingers": 0.8510942317477838,
+            "object_to_finger_line_xy": 0.009234216595003928,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04935028562123871,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9733736834316153,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2693133463952642,
+              -0.11969375909927318,
+              0.7611191659328911
+            ],
+            "target_position": [
+              0.28940904919067123,
+              -0.13531416574845917,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.025452590727217984,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20453837312059486,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611191659328911,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08076220954269323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08989687814293369,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18091010887556414,
+            "release_required_pad_clearance": 0.05494843907146685,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.904338455487305,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 188,
+            "max_placed_release_frames": 188
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dd214cfcab758cfd3a9a8100caff9571678a9e18b2120ea27ddc3b01da4afd77",
+    "visual_seed": 2657092597590872676,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_45_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b039a56a8adaeba8faa638fea5d6fa4e4bcffbc8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_45_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+              1.0017286729956931
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+              -0.13151339913673296,
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+              1.0
+            ],
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+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.87737176796858,
+            "source_upright_tilt_deg": 2.7625886237044583,
+            "max_source_upright_tilt_deg": 89.96306720968974,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.377612661023548,
+            "source_upright_return_tilt_deg": 2.7625886237044583,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.725290298461914e-08,
+            "max_target_xy_drift": 1.0745380149674383e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "831233d517f9db8b73261c71194da58571b06e4f3f82b67f8a3c71bd83540807",
+    "visual_seed": 7447969270109489630,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c14264bbe4028f36c8ae2e593f2c09e3d4e07941
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_46_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              -0.145952205292748,
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+              0.011923498030846968,
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+              1.0
+            ],
+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+          }
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "target_position": [
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+              0.018943425740983344,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_wrist_compensated_return_position": -1.613054633140564,
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+            "valid_pour_source_tilt_deg": 1.7808996076882502,
+            "valid_pour_source_upright_tilt_deg": 3.0965860411357573,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.50593981019146e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32346641043347807,
+              -0.0006024722835918005,
+              1.0469322125396436
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31341455953894487,
+              0.02292425257884865,
+              1.0469322125396436
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31844048498621147,
+              0.011160890147628425,
+              1.0469322125396436
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32346641043347807,
+              0.02292425257884865,
+              1.0469322125396436
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025584106182528665,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02393583013030563,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04411691577094794,
+              -0.9985398991320756,
+              0.031173186942684894
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005551889835045843,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038195791664198495,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32346641043347807,
+              -0.0006024722835918005,
+              1.0469322125396436
+            ],
+            "held_grasp_finger_b": [
+              0.31341455953894487,
+              0.02292425257884865,
+              1.0469322125396436
+            ],
+            "held_grasp_midpoint": [
+              0.31844048498621147,
+              0.011160890147628425,
+              1.0469322125396436
+            ],
+            "held_grasp_object_position": [
+              0.32346641043347807,
+              0.02292425257884865,
+              1.0469322125396436
+            ],
+            "held_grasp_finger_gap": 0.025584106182528665,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02393583013030563,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04411691577094794,
+              -0.9985398991320756,
+              0.031173186942684894
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005551889835045843,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038195791664198495,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.27390106851530654,
+              -0.1230329262994885,
+              0.7611143543170585
+            ],
+            "target_position": [
+              0.2906326091122141,
+              -0.13502835708952532,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.020587248737617404,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2063796194597424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611143543170585,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07867547080090828,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08787688799249806,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1812490768534576,
+            "release_required_pad_clearance": 0.05393844399624903,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.850283502933606,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c46e39768d7658e83d09bc2587cd225ed697d4edb877cb6ad4f32d68d5132a0",
+    "visual_seed": 7737505335025370111,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26fa2da95827c8410b5e52a8821419f880e423bb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_47_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3177456123044866,
+              -0.13788781201809314,
+              1.0048949600657382
+            ],
+            "current_z": 1.0048949600657382,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1437885116556168,
+            "gripper_z": 1.0054475343752998,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3138565866064782,
+              -0.14201048189868193,
+              1.0054475343752998
+            ],
+            "object_minus_gripper": [
+              0.0038890256980084192,
+              0.004122669880588792,
+              -0.0005525743095615709
+            ],
+            "object_to_gripper_xy": 0.00566753278103302,
+            "object_to_gripper_z": -0.0005525743095615709,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3177456123044866,
+              -0.16165528256513848,
+              1.0048949600657382
+            ],
+            "finger_b": [
+              0.30728378190163264,
+              -0.13788781201809314,
+              1.0048949600657382
+            ],
+            "finger_midpoint": [
+              0.3125146971030596,
+              -0.1497715472916158,
+              1.0048949600657382
+            ],
+            "object_minus_finger_midpoint": [
+              0.005230915201426989,
+              0.011883735273522655,
+              0.0
+            ],
+            "finger_gap": 0.025968106430441697,
+            "fingertip_max_gap": 0.09341161002953544,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012984053215220837,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0048949600657382,
+            "object_top_z": 1.054995581324778,
+            "finger_top_clearance": 0.0501006212590398,
+            "fingertip_min_top_clearance": 0.015030186377711974,
+            "object_projection_between_fingers": 0.8376939211070246,
+            "object_to_finger_line_xy": 0.009575255193675903,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04920580501476772,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6133532846287224,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "gripper",
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+                "joint1",
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+                "left_inner_finger",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "ridgebase_ur16e",
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+                "right_inner_finger",
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+                "robot",
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+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "defaultgroundplane",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
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+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3008538211315186,
+              -0.13981056745139514,
+              0.7611077454520362
+            ],
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+              0.2949296449012682,
+              -0.14010995988672426,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.005931736662849749,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2219793458226858,
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+            "object_z": 0.7611077454520362,
+            "min_z": 0.5774145980897916,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08589915934005181,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19231429618473594,
+            "release_required_pad_clearance": 0.052949579670025906,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9346001806037275,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "80b48351a533dc8c1dbc33e058a82998d430682708e17ce3bec9e18a500e37a7",
+    "visual_seed": 7789026659261189825,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1381b53aaf7aac2a39edf386a2f65f607e977cb0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_48_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.043554122416906135,
+              0.7701463897966119
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "source_upright_tilt_deg": 3.6273521445928774,
+            "max_source_upright_tilt_deg": 89.83931688464747,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.945030246010769,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.3498716755638393e-07,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0436,
+                0.7701
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+              "controller_target_position": [
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+                0.0436,
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+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "821e98299f7e8b93c50975cb14f288eeed80ca750435b706119ec453008976e7",
+    "visual_seed": 9083827297240919975,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5070617e6e510e6098cb815bd1a4549a3ae1244
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_49_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.0038072456406852
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+              1.0050741872124889
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+              0.004210694644051022,
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+            "object_to_gripper_z": -0.0012669415718036259,
+            "fingertip_source": "active_contact_pad_positions",
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+              1.0038072456406852
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+              1.0038072456406852
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+              -0.1471647956296882,
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+              0.011999736368350805,
+              0.0
+            ],
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+              1.0
+            ],
+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04340082672112443,
+              0.7701464494012565
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+              0.010870304490220709,
+              1.0482851147347965
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "missing_end_effector_orientation_samples": 0,
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+            "source_return_ok": true,
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+            "target_xy_drift": 7.33797088526056e-08,
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+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+                0.0434,
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+              "controller_target_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_grasp_midpoint": [
+              0.32078578445451844,
+              0.003144404002994269,
+              1.0468819116125567
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3259437114863955,
+              0.015006317332600721,
+              1.0468819116125567
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025869611447044475,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024129647257185725,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04255219552505667,
+              -0.9986030229594884,
+              0.03132591885593839
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005669968788118045,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03809438868063102,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3259437114863955,
+              -0.008717509326612184,
+              1.0468819116125567
+            ],
+            "held_grasp_finger_b": [
+              0.3156278574226413,
+              0.015006317332600721,
+              1.0468819116125567
+            ],
+            "held_grasp_midpoint": [
+              0.32078578445451844,
+              0.003144404002994269,
+              1.0468819116125567
+            ],
+            "held_grasp_object_position": [
+              0.3259437114863955,
+              0.015006317332600721,
+              1.0468819116125567
+            ],
+            "held_grasp_finger_gap": 0.025869611447044475,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024129647257185725,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04255219552505667,
+              -0.9986030229594884,
+              0.03132591885593839
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005669968788118045,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03809438868063102,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2917515994991739,
+              -0.13796331922545962,
+              0.7611063888054764
+            ],
+            "target_position": [
+              0.29129568907710035,
+              -0.1374157058686289,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0007125550515817737,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21474393359009825,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063888054764,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577821003212924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1849987183316617,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3768784166b90e43198dc141107e8e25835e71f133c757e024a1a0a7e3504e38",
+    "visual_seed": 3700517087776875130,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb55ece3b3033c84af861b4e87d5d2be45dfb1fb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_4_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3095261463371072,
+              -0.13569900792894704,
+              1.004543827630648
+            ],
+            "current_z": 1.004543827630648,
+            "required_z": 0.8611063292008317,
+            "initial_z": 0.7611063292008318,
+            "lift_margin": 0.14343749842981623,
+            "gripper_z": 1.0056521513520327,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3057389751267943,
+              -0.13966898934976574,
+              1.0056521513520327
+            ],
+            "object_minus_gripper": [
+              0.0037871712103128563,
+              0.003969981420818697,
+              -0.0011083237213846964
+            ],
+            "object_to_gripper_xy": 0.0054866582049429855,
+            "object_to_gripper_z": -0.0011083237213846964,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3095261463371072,
+              -0.15958611381262847,
+              1.004543827630648
+            ],
+            "finger_b": [
+              0.2995621212218072,
+              -0.13569900792894704,
+              1.004543827630648
+            ],
+            "finger_midpoint": [
+              0.3045441337794572,
+              -0.14764256087078775,
+              1.004543827630648
+            ],
+            "object_minus_finger_midpoint": [
+              0.004982012557649962,
+              0.011943552941840713,
+              0.0
+            ],
+            "finger_gap": 0.025881955567470874,
+            "fingertip_max_gap": 0.09372136887410024,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012940977783735427,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.004543827630648,
+            "object_top_z": 1.0548113356062538,
+            "finger_top_clearance": 0.05026750797560586,
+            "fingertip_min_top_clearance": 0.015080252392681775,
+            "object_projection_between_fingers": 0.8517907012259904,
+            "object_to_finger_line_xy": 0.009196048665502372,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04936068443705012,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8570899728079597,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2686333652940129,
+              -0.12116095209510928,
+              0.7611066775785658
+            ],
+            "target_position": [
+              0.286942483460813,
+              -0.13882736634968706,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.025442602081159074,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20553361848880333,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066775785658,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08169903749746416,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09567675757121526,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18225149304012195,
+            "release_required_pad_clearance": 0.05783837878560763,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 11.550524964630403,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 179,
+            "max_placed_release_frames": 179
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b526de78779e7f8f57338e68cb2bd2a534d4370e3ed7418ecca02049838aeee7",
+    "visual_seed": 3791875186729893054,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d02d8601c7c10eaeea5df21c789f603de799d6f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_50_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.31362344134401954,
+              -0.14066385332014458,
+              1.0043506085943716
+            ],
+            "current_z": 1.0043506085943716,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14324416018425035,
+            "gripper_z": 1.0051819542347957,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.14475539435685325,
+              1.0051819542347957
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+              0.0036960451751779644,
+              0.004091541036708668,
+              -0.000831345640424086
+            ],
+            "object_to_gripper_xy": 0.005513751716574419,
+            "object_to_gripper_z": -0.000831345640424086,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31362344134401954,
+              -0.1641034900538179,
+              1.0043506085943716
+            ],
+            "finger_b": [
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+              -0.14066385332014458,
+              1.0043506085943716
+            ],
+            "finger_midpoint": [
+              0.30831820256992415,
+              -0.15238367168698125,
+              1.0043506085943716
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011719818366836665,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009666231790301369,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049222778029086686,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0480583575928692,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3195309749848072,
+              0.04644987252228715,
+              0.7701465090059013
+            ],
+            "gripper_position": [
+              0.3220636443446169,
+              0.0129695711319769,
+              1.0467640046190783
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+              0.033480301390310246,
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+              0.016921864212792133,
+              1.045791148908318
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+            "held_minus_target": [
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+              -0.029528008309495014,
+              0.2756446399024167
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+              0.003952293080815232,
+              -0.0009728557107602231
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+            "held_gripper_dist": 0.005572208042021424,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059013,
+            "held_z": 1.045791148908318,
+            "required_height": 0.8001465090059013,
+            "gripper_z": 1.0467640046190783,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.48828673287926,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 2.3811208153568955,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.875189526548011,
+            "max_source_tilt_deg": 89.87582541363061,
+            "source_upright_tilt_deg": 2.2154971070280935,
+            "max_source_upright_tilt_deg": 89.98410928939767,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.875189526548011,
+            "source_upright_return_tilt_deg": 2.2154971070280935,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.679882693323606e-08,
+            "max_target_xy_drift": 2.6512449009207017e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3195,
+                0.0464,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.3195,
+                0.0464,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0013,
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
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+                "tilt_axis_frame": "end_effector",
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+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                "position_threshold_m": 0.015,
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+                  -0.0013162939508870792,
+                  -0.001953240248491398,
+                  -0.0011899891321440932
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.215493360593537,
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.2077996338089934,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.616433024406433
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3195,
+              0.0464,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+              0.0,
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.002,
+              -0.0012
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3182,
+              0.0193,
+              1.0342
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+            "pour_controller_controller_t": 0.0,
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+              0.0649,
+              0.0603,
+              0.0904
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0013162939508870792,
+                -0.001953240248491398,
+                -0.0011899891321440932
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.215493360593537,
+            "pour_controller_source_return_step_error_deg": 1.8751889810880233,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.2077996338089934,
+            "pour_controller_source_return_best_wrist_position": -1.616433024406433,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.616433024406433,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03357595859051725,
+            "valid_pour_held_xy_dist": 0.030200607121491058,
+            "valid_pour_held_gripper_dist": 0.005572208042021424,
+            "valid_pour_required_height": 0.8001465090059013,
+            "valid_pour_held_z": 1.045791148908318,
+            "valid_pour_source_tilt_deg": 1.875189526548011,
+            "valid_pour_source_upright_tilt_deg": 2.2154971070280935,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.679882693323606e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32586922362154036,
+              -0.006639211202325341,
+              1.045791148908318
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31590336644793227,
+              0.016921864212792133,
+              1.045791148908318
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3208862950347363,
+              0.005141326505233396,
+              1.045791148908318
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32586922362154036,
+              0.016921864212792133,
+              1.045791148908318
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02558207544202794,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02379811828246419,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02555271040948449,
+              -0.9992525046211823,
+              0.029008464265162463
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0052932495040710235,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03807584559120246,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32586922362154036,
+              -0.006639211202325341,
+              1.045791148908318
+            ],
+            "held_grasp_finger_b": [
+              0.31590336644793227,
+              0.016921864212792133,
+              1.045791148908318
+            ],
+            "held_grasp_midpoint": [
+              0.3208862950347363,
+              0.005141326505233396,
+              1.045791148908318
+            ],
+            "held_grasp_object_position": [
+              0.32586922362154036,
+              0.016921864212792133,
+              1.045791148908318
+            ],
+            "held_grasp_finger_gap": 0.02558207544202794,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02379811828246419,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02555271040948449,
+              -0.9992525046211823,
+              0.029008464265162463
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0052932495040710235,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03807584559120246,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29181093008785464,
+              -0.1540098099281071,
+              0.761106284338065
+            ],
+            "target_position": [
+              0.29141280185921825,
+              -0.14220664462057975,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.011809877957170182,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21643522241927413,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106284338065,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548564634153257,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0849653834485569,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18514197103407287,
+            "release_required_pad_clearance": 0.052482691724278455,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956465991354857,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bcc5cd30ef51173109680f797994e16fca16cb0b16242655548fff0eab4c1674",
+    "visual_seed": 7213752618129327523,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b599733169a0f3c425748e7517475aac741cc895
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_51_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+                "panda_leftfingertip",
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+                "panda_rightfingertip",
+                "ridgebase",
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+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist_1_joint",
+                "wrist_2_joint",
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+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0050888193474743345,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03810172192941772,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32917893417724,
+              -0.004672908044934685,
+              1.0481332928553164
+            ],
+            "held_grasp_finger_b": [
+              0.3195952898482273,
+              0.01881536297280404,
+              1.0481332928553164
+            ],
+            "held_grasp_midpoint": [
+              0.3243871120127336,
+              0.007071227463934678,
+              1.0481332928553164
+            ],
+            "held_grasp_object_position": [
+              0.32917893417724,
+              0.01881536297280404,
+              1.0481332928553164
+            ],
+            "held_grasp_finger_gap": 0.02536819098847534,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023707246882829287,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02453088748562983,
+              -0.9993137240440316,
+              0.027754576134691115
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0050888193474743345,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03810172192941772,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29665733645857195,
+              -0.14911346633972028,
+              0.7611154375836385
+            ],
+            "target_position": [
+              0.2948941302602346,
+              -0.13973093947909962,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009546764184168555,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21912078779887995,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611154375836385,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527646968406254,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08675205197739093,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1884644741956712,
+            "release_required_pad_clearance": 0.053376025988695466,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7623078822385407,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6bd21886b2e4d2ff78d56e2669256ee9597834e6e56200bad2310b2bc2307bd7",
+    "visual_seed": 8885167516541360775,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c552755612b2324d88f04fd0c0937bf7cacb99ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_52_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.310788984912585,
+              -0.13281890689719564,
+              1.0021360132402393
+            ],
+            "current_z": 1.0021360132402393,
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+            "lift_margin": 0.14102962443476263,
+            "gripper_z": 1.00282800597839,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3072605134789912,
+              -0.13682352801588987,
+              1.00282800597839
+            ],
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+              0.003528471433593805,
+              0.004004621118694235,
+              -0.0006919927381507929
+            ],
+            "object_to_gripper_xy": 0.005337330883688905,
+            "object_to_gripper_z": -0.0006919927381507929,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.310788984912585,
+              -0.1561371791494381,
+              1.0021360132402393
+            ],
+            "finger_b": [
+              0.300276908735028,
+              -0.13281890689719564,
+              1.0021360132402393
+            ],
+            "finger_midpoint": [
+              0.3055329468238065,
+              -0.14447804302331685,
+              1.0021360132402393
+            ],
+            "object_minus_finger_midpoint": [
+              0.005256038088778503,
+              0.011659136126121211,
+              0.0
+            ],
+            "finger_gap": 0.02557822445738683,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0021360132402393,
+            "object_top_z": 1.05249921455626,
+            "finger_top_clearance": 0.05036320131602068,
+            "fingertip_min_top_clearance": 0.015108960394806185,
+            "object_projection_between_fingers": 0.8310974483601257,
+            "object_to_finger_line_xy": 0.009583286543323645,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04977218599494325,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3695064569989572,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
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+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523541326114591,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558750711476797,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18595074595492342,
+            "release_required_pad_clearance": 0.052793753557383985,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.634270783437464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a4b43f9fb3aad37c3290a760fb70c8569ff35e70dc2ab8d5dd2cdb0ddeb7e9c6",
+    "visual_seed": 3858427285921028511,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5e65f6c08b0b0e25776d24821a9365522aa1bef
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_53_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
+              0.3118934801190923,
+              -0.13428852111344472,
+              1.0030409019530975
+            ],
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+            "lift_margin": 0.1419345131476213,
+            "gripper_z": 1.0038489433893727,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.13835255985827438,
+              1.0038489433893727
+            ],
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+              0.004064038744829662,
+              -0.0008080414362752197
+            ],
+            "object_to_gripper_xy": 0.005496553742386291,
+            "object_to_gripper_z": -0.0008080414362752197,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3118934801190923,
+              -0.1578177386221871,
+              1.0030409019530975
+            ],
+            "finger_b": [
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+              -0.13428852111344472,
+              1.0030409019530975
+            ],
+            "finger_midpoint": [
+              0.30664851626669065,
+              -0.1460531298678159,
+              1.0030409019530975
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011764608754371186,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009580899573063907,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04928689238151211,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.043649799047641526,
+              0.7701465686105461
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+              0.011241362317990153,
+              1.047279964611155
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+              0.0039122209020925214,
+              -0.0009349053484961622
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701465686105461,
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+            "required_height": 0.8001465686105461,
+            "gripper_z": 1.047279964611155,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.39156442404271,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.142912077689112,
+            "max_source_tilt_deg": 89.84623066256756,
+            "source_upright_tilt_deg": 2.0835152561730905,
+            "max_source_upright_tilt_deg": 89.94287025899008,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.142912077689112,
+            "source_upright_return_tilt_deg": 2.0835152561730905,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3228,
+                0.0436,
+                0.7701
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+              "controller_target_position": [
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+                0.0436,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6131534576416016
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3228,
+              0.0436,
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+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              0.0,
+              0.0
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0006,
+              0.0008,
+              -0.0001
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3234,
+              0.0193,
+              1.0352
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0005831619876175871,
+                0.0008464507594680682,
+                -0.00014626595719005532
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.083522573846442,
+            "pour_controller_source_return_step_error_deg": 2.1429415105887863,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.1275556507573956,
+            "pour_controller_source_return_best_wrist_position": -1.6131534576416016,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6131534576416016,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.032532028716618665,
+            "valid_pour_held_xy_dist": 0.029263786428002814,
+            "valid_pour_held_gripper_dist": 0.00555096662737812,
+            "valid_pour_required_height": 0.8001465686105461,
+            "valid_pour_held_z": 1.0463450592626589,
+            "valid_pour_source_tilt_deg": 2.142912077689112,
+            "valid_pour_source_upright_tilt_deg": 2.0835152561730905,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.9802322387695312e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3294603433098202,
+              -0.008551686261808295,
+              1.0463450592626589
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3197269278510664,
+              0.015153583220082674,
+              1.0463450592626589
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3245936355804433,
+              0.0033009484791371897,
+              1.0463450592626589
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3294603433098202,
+              0.015153583220082674,
+              1.0463450592626589
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025625752236798426,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023879913660551887,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.019552812809290346,
+              -0.9993389034530437,
+              0.030650343497478527
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005110354838073366,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03797060889027919,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3294603433098202,
+              -0.008551686261808295,
+              1.0463450592626589
+            ],
+            "held_grasp_finger_b": [
+              0.3197269278510664,
+              0.015153583220082674,
+              1.0463450592626589
+            ],
+            "held_grasp_midpoint": [
+              0.3245936355804433,
+              0.0033009484791371897,
+              1.0463450592626589
+            ],
+            "held_grasp_object_position": [
+              0.3294603433098202,
+              0.015153583220082674,
+              1.0463450592626589
+            ],
+            "held_grasp_finger_gap": 0.025625752236798426,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023879913660551887,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.019552812809290346,
+              -0.9993389034530437,
+              0.030650343497478527
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005110354838073366,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03797060889027919,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2898605664632902,
+              -0.13541888920979248,
+              0.7611064630269997
+            ],
+            "target_position": [
+              0.28942927857427775,
+              -0.1375828525526979,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0022065236442529294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21668747268400024,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064630269997,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564310889106876,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506176723328222,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18789865958111537,
+            "release_required_pad_clearance": 0.052530883616641114,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13122115381019567,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b9672ad09e4a76b88ef42dc030b19b35dac2191d818b1a61df307f0d156c7a43",
+    "visual_seed": 8981985319355263536,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ee9a2e9e0401d1a9016d9e1e42f6d1ece6db4f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_55_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31461703714072237,
+              -0.13582912748301343,
+              1.0032239828371456
+            ],
+            "current_z": 1.0032239828371456,
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+              0.32291342289052277,
+              0.022328475398909194,
+              1.04734427358986
+            ],
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023647108180898085,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.013074984888140342,
+              -0.9995639773749966,
+              0.026474514243936098
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.004910797831503344,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03802084341166782,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29422083615229294,
+              -0.13812412156947818,
+              0.7611068038021243
+            ],
+            "target_position": [
+              0.29244457737136054,
+              -0.139135796797956,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.002044158023430468,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21533640156499753,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611068038021243,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552917661887933,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569955500632269,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18628612256708654,
+            "release_required_pad_clearance": 0.052849777503161346,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7423004526749316,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 189,
+            "max_placed_release_frames": 189
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d1bb5892713483ce836df056fa7959cf276623902505877b33411f9bed37c0e",
+    "visual_seed": 3554599536609699560,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..762f4a04d4a7f775d9fb1e2b7c6eb0868b126c13
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_56_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+          "metrics": {
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+              -0.13587104401236177,
+              1.0026545813570809
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+              -0.1399080760810218,
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+              0.3109504818444173,
+              -0.15932848088455637,
+              1.0026545813570809
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+              -0.13587104401236177,
+              1.0026545813570809
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+            "finger_midpoint": [
+              0.3057335793640107,
+              -0.14759976244845907,
+              1.0026545813570809
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+              0.011728718436097296,
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+            "object_to_finger_line_xy": 0.009533282551602622,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3180496207482044,
+              0.0495114725517557,
+              0.7701463897966119
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+            "gripper_position": [
+              0.31918149435099064,
+              0.01891930284833694,
+              1.0493582210166796
+            ],
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+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a8f221faf380551bebc1a522dba5ba2cdaebf06b28402b14eb493c8abca9be26",
+    "visual_seed": 1750512326189352616,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..02c6501397827592eb2a379b6db6dabeae4e7dfc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_57_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
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+              0.3090716316052574,
+              -0.1381753503125868,
+              1.0035445572691657
+            ],
+            "current_z": 1.0035445572691657,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.1424381684636895,
+            "gripper_z": 1.0040851725086684,
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+            "gripper_position": [
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+              -0.14219137726630662,
+              1.0040851725086684
+            ],
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+              0.004016026953719831,
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+            "object_to_gripper_xy": 0.005448841468149976,
+            "object_to_gripper_z": -0.000540615239502662,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.16177296574633748,
+              1.0035445572691657
+            ],
+            "finger_b": [
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+              -0.1381753503125868,
+              1.0035445572691657
+            ],
+            "finger_midpoint": [
+              0.3039237593762877,
+              -0.14997415802946212,
+              1.0035445572691657
+            ],
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+              0.011798807716875331,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009436659972259993,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049358419864454814,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.043718705742292197,
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+              0.01120921809290669,
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+              0.003903552347164784,
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+            "max_wrist_deg": 120.45564525883577,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.75164513180698,
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+            "max_source_upright_tilt_deg": 89.9266530704031,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 5.0669426131007984e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.0437,
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+              "controller_target_position": [
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+                0.0437,
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+              "controller_target_minus_raw_target": [
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0904
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+            "pour_controller_height_range_1": [
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+            "pour_controller_height_range_2": [
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+            ],
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0010882173021976548,
+                0.0002327885274725828,
+                -0.0011681495676031032
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.28918235996261,
+            "pour_controller_source_return_step_error_deg": 2.0714512807494363,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.285741144990357,
+            "pour_controller_source_return_best_wrist_position": -1.615139126777649,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.615139126777649,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.032628316086465124,
+            "valid_pour_held_xy_dist": 0.02934694416295524,
+            "valid_pour_held_gripper_dist": 0.005469646384889663,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0458638266608173,
+            "valid_pour_source_tilt_deg": 2.071437442472153,
+            "valid_pour_source_upright_tilt_deg": 2.2891748020965283,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.0669426131007984e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32892868349111554,
+              -0.008533421580455213,
+              1.0458638266608173
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31917650778756335,
+              0.015112770440071473,
+              1.0458638266608173
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3240525956393394,
+              0.0032896744298081303,
+              1.0458638266608173
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32892868349111554,
+              0.015112770440071473,
+              1.0458638266608173
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025578258893532487,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023902313428761483,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.028197999616678095,
+              -0.999201967128603,
+              0.028289604167400343
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005218142005547729,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03804408520246486,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32892868349111554,
+              -0.008533421580455213,
+              1.0458638266608173
+            ],
+            "held_grasp_finger_b": [
+              0.31917650778756335,
+              0.015112770440071473,
+              1.0458638266608173
+            ],
+            "held_grasp_midpoint": [
+              0.3240525956393394,
+              0.0032896744298081303,
+              1.0458638266608173
+            ],
+            "held_grasp_object_position": [
+              0.32892868349111554,
+              0.015112770440071473,
+              1.0458638266608173
+            ],
+            "held_grasp_finger_gap": 0.025578258893532487,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023902313428761483,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.028197999616678095,
+              -0.999201967128603,
+              0.028289604167400343
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005218142005547729,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03804408520246486,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29017722843805943,
+              -0.1462611876684661,
+              0.7611068275634266
+            ],
+            "target_position": [
+              0.2868364934247392,
+              -0.14234737389601979,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005145721394966318,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2201857174698407,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611068275634266,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570556219736643,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09125095220914152,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18959959958171674,
+            "release_required_pad_clearance": 0.05562547610457076,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.414710547618582,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46b779dadf7618d6b08480a6348fe9335f7c1f16f8335cf95438d03594ed8587",
+    "visual_seed": 4968950064560113817,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a0a382e7858329e75155dad28cf8de29803213d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_58_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31286982947076336,
+              -0.13912861675851612,
+              1.00214653473347
+            ],
+            "current_z": 1.00214653473347,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14104008632334875,
+            "gripper_z": 1.002699686409521,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3093494950791027,
+              -0.1430994229985391,
+              1.002699686409521
+            ],
+            "object_minus_gripper": [
+              0.003520334391660662,
+              0.003970806240022967,
+              -0.000553151676051078
+            ],
+            "object_to_gripper_xy": 0.005306604981050895,
+            "object_to_gripper_z": -0.000553151676051078,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31286982947076336,
+              -0.16252977892039375,
+              1.00214653473347
+            ],
+            "finger_b": [
+              0.30251464847476217,
+              -0.13912861675851612,
+              1.00214653473347
+            ],
+            "finger_midpoint": [
+              0.30769223897276277,
+              -0.15082919783945492,
+              1.00214653473347
+            ],
+            "object_minus_finger_midpoint": [
+              0.005177590498000595,
+              0.011700581080938799,
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+            "liquid_target": "beaker_c"
+          },
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29179514595511924,
+              -0.14038953833329784,
+              0.761106639896917
+            ],
+            "target_position": [
+              0.2905741316053974,
+              -0.14266020767964338,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.0025781418352487694,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21631453068654133,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106639896917,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756600716283807,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08541775201572964,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18748577966702826,
+            "release_required_pad_clearance": 0.05270887600786482,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.47146784751547244,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff8988c367e9073720e7496874d70edbb152bd46ee6d6ea90ff59048ed1cd451",
+    "visual_seed": 1640465116942205444,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2764e254588f0cc189961b610130828b1e8ca187
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_59_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
+            "active_arm": null,
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04867060747616745,
+              0.7701463897966117
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+              0.018186402557841513,
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+            "held_gripper_dist": 0.005522938535632443,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0491908796854192,
+            "wrist_idx": 5,
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+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f2358de8e8c26837b92611e20dbcb606d6b0362974a234e7634ad771d9af0008",
+    "visual_seed": 752259876571855568,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87c647ec87d65a91bd02823f946d250258cdb77d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_5_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.30983665954139716,
+              -0.1349165499700781,
+              1.0029215165263357
+            ],
+            "current_z": 1.0029215165263357,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.14181500851156992,
+            "gripper_z": 1.0036649894165723,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3061309785656511,
+              -0.13896755630656815,
+              1.0036649894165723
+            ],
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+              0.003705680975746084,
+              0.004051006336490054,
+              -0.000743472890236685
+            ],
+            "object_to_gripper_xy": 0.005490238959488833,
+            "object_to_gripper_z": -0.000743472890236685,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30983665954139716,
+              -0.15848824202877365,
+              1.0029215165263357
+            ],
+            "finger_b": [
+              0.29941305558051895,
+              -0.1349165499700781,
+              1.0029215165263357
+            ],
+            "finger_midpoint": [
+              0.30462485756095803,
+              -0.14670239599942586,
+              1.0029215165263357
+            ],
+            "object_minus_finger_midpoint": [
+              0.005211801980439135,
+              0.011785846029347763,
+              0.0
+            ],
+            "finger_gap": 0.025773555944867348,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0532285213905455,
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+            "fingertip_min_top_clearance": 0.01509210145926294,
+            "object_projection_between_fingers": 0.8364362266538201,
+            "object_to_finger_line_xy": 0.009533103745296366,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04951568495558471,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.910599087353223,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31564889466826374,
+              0.04954568561785675,
+              0.7701463301919668
+            ],
+            "gripper_position": [
+              0.31783285614069057,
+              0.01792566480058984,
+              1.046568169840208
+            ],
+            "target_minus_gripper": [
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+              0.03162002081726691,
+              -0.2764218396482413
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+            "held_position": [
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+              0.021892257903227345,
+              1.0457000389661775
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+            "held_minus_target": [
+              0.0059437580781872,
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+              0.2755537087742107
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+              0.003966593102637507,
+              -0.0008681308740305926
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+            "held_gripper_dist": 0.005533857838165321,
+            "max_held_gripper_dist": 0.005541780643838195,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001463301919668,
+            "gripper_z": 1.046568169840208,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.40968491591076,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 2.667251362279747,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.7279402167962647,
+            "max_source_tilt_deg": 89.87809728954717,
+            "source_upright_tilt_deg": 2.7181942238398173,
+            "max_source_upright_tilt_deg": 89.94814298947742,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.7279402167962647,
+            "source_upright_return_tilt_deg": 2.7181942238398173,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.450580596923828e-08,
+            "max_target_xy_drift": 1.611807022759078e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3156,
+                0.0495,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0495,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
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+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0015,
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
+              ],
+              "height_range_2": [
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
+                  0.0
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+                "approach_xy_threshold_m": 0.08,
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6134074926376343
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0015,
+              -0.0005
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0258,
+              1.0348
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
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+              "approach_xy_threshold_m": 0.08,
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+                0.0014729948102820511,
+                -0.0005426348526670357
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.7181867101924073,
+            "pour_controller_source_return_step_error_deg": 1.7279601697216942,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.7150294763625658,
+            "pour_controller_source_return_best_wrist_position": -1.6134074926376343,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6134074926376343,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.031695353037905064,
+            "valid_pour_held_xy_dist": 0.028284984080961566,
+            "valid_pour_held_gripper_dist": 0.005533857838165321,
+            "valid_pour_required_height": 0.8001463301919668,
+            "valid_pour_held_z": 1.0457000389661775,
+            "valid_pour_source_tilt_deg": 1.7279402167962647,
+            "valid_pour_source_upright_tilt_deg": 2.7181942238398173,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.450580596923828e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32159265274645094,
+              -0.0015597748433042154,
+              1.0457000389661775
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3115182991021073,
+              0.021892257903227345,
+              1.0457000389661775
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31655547592427913,
+              0.010166241529961565,
+              1.0457000389661775
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32159265274645094,
+              0.021892257903227345,
+              1.0457000389661775
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025524310789827177,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023799391578057043,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03709869038858319,
+              -0.9988748738552303,
+              0.029541048595975387
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054795142361575835,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03819429960778314,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32159265274645094,
+              -0.0015597748433042154,
+              1.0457000389661775
+            ],
+            "held_grasp_finger_b": [
+              0.3115182991021073,
+              0.021892257903227345,
+              1.0457000389661775
+            ],
+            "held_grasp_midpoint": [
+              0.31655547592427913,
+              0.010166241529961565,
+              1.0457000389661775
+            ],
+            "held_grasp_object_position": [
+              0.32159265274645094,
+              0.021892257903227345,
+              1.0457000389661775
+            ],
+            "held_grasp_finger_gap": 0.025524310789827177,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023799391578057043,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03709869038858319,
+              -0.9988748738552303,
+              0.029541048595975387
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0054795142361575835,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03819429960778314,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2864181162800272,
+              -0.13755502740874812,
+              0.7611063888054763
+            ],
+            "target_position": [
+              0.28739391566737127,
+              -0.1370021337945708,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.001121550619873696,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2144124809356905,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063888054763,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584797518151289,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18479363636792784,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a35b42e353398be17666be871eee64b3930a7aef130acbad12ce0ddb89580f9",
+    "visual_seed": 3002458142676013303,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91f7988f034e5ac7a1deeca83a929fb0a97946fa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_60_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3112291213783098,
+              -0.13318483775167048,
+              1.001886246151904
+            ],
+            "current_z": 1.001886246151904,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14077973813713818,
+            "gripper_z": 1.0031739091339298,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30724811777476924,
+              -0.13732835896632195,
+              1.0031739091339298
+            ],
+            "object_minus_gripper": [
+              0.003981003603540589,
+              0.004143521214651474,
+              -0.0012876629820257612
+            ],
+            "object_to_gripper_xy": 0.005746055842721161,
+            "object_to_gripper_z": -0.0012876629820257612,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3112291213783098,
+              -0.15705617458822116,
+              1.001886246151904
+            ],
+            "finger_b": [
+              0.3008071624106166,
+              -0.13318483775167048,
+              1.001886246151904
+            ],
+            "finger_midpoint": [
+              0.3060181418944632,
+              -0.14512050616994582,
+              1.001886246151904
+            ],
+            "object_minus_finger_midpoint": [
+              0.005210979483846634,
+              0.011935668418275341,
+              0.0
+            ],
+            "finger_gap": 0.026047225400958593,
+            "fingertip_max_gap": 0.09341197330087528,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013023612700479307,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.001886246151904,
+            "object_top_z": 1.0520838602925506,
+            "finger_top_clearance": 0.05019761414064661,
+            "fingertip_min_top_clearance": 0.015059284242193948,
+            "object_projection_between_fingers": 0.8399057324775343,
+            "object_to_finger_line_xy": 0.00955134718515391,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04920598665043764,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6290099234782187,
+            "object_max_tilt_deg": 15.0,
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.28841373437764684,
+              -0.13381389829205081,
+              0.7611075473851202
+            ],
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+              0.28844796476417633,
+              -0.13608184393110287,
+              0.7774145980897915
+            ],
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+            "gripper_dist": 0.21583188347515928,
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+            "object_z": 0.7611075473851202,
+            "min_z": 0.5774145980897916,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525628276997203,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18764986349771332,
+            "release_required_pad_clearance": 0.05262814138498602,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.31651730239217657,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "89dec2a04fbd4c40bc411d26330cd2f8d66c0426f6a150d3dda8cf6177f8ce44",
+    "visual_seed": 2362933951242388405,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..22b1885689c23f728fb02c6d98b8ac4e371c2dfd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_61_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+      "target": "beaker_a",
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+          "skill": "pick",
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+            "stable_success_frames": 165,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.93676578929731,
+            "source_upright_tilt_deg": 2.8505607910729784,
+            "max_source_upright_tilt_deg": 89.91034180062346,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.143215081663829,
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "513c9637e812997c53451859a800ed705f677d809f23a4bd6c8a5634eb4368e2",
+    "visual_seed": 6563432431940776860,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f61305c83829700b7fca78937f27aac59a84361
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_62_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+          "metrics": {
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+              1.0011172176933303
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+            "lift_margin": 0.14001070967856444,
+            "gripper_z": 1.0021592355597086,
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+            "gripper_position": [
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+              -0.14563065576476536,
+              1.0021592355597086
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+              0.0038364114624169776,
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+            "object_to_gripper_z": -0.0010420178663783641,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.16527127229864416,
+              1.0011172176933303
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+            "finger_b": [
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+              -0.14179424430234838,
+              1.0011172176933303
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+            "finger_midpoint": [
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+              -0.15353275830049629,
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+            "object_minus_finger_midpoint": [
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+              0.011738513998147904,
+              0.0
+            ],
+            "finger_gap": 0.0254974599820209,
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+            "object_to_finger_line_xy": 0.00915910987065002,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04943491647730715,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.0452895898806379,
+              0.7701463301919671
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+            "gripper_position": [
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+              0.011800045507341622,
+              1.0499354962022571
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+              0.03348954437329628,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_tilt_deg": 3.1393306339150073,
+            "max_source_upright_tilt_deg": 89.82374877823533,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_xy_drift": 7.920075813483186e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.0453,
+                0.7701
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+              "controller_target_position": [
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+                0.0453,
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_height_range_2": [
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+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+                0.0,
+                0.0
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+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_effective_target_deg": 8.0,
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+            "pour_controller_wrist_compensated_return_position": -1.6148871183395386,
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_xy_dist": 0.030484827408023434,
+            "valid_pour_held_gripper_dist": 0.005225859021316997,
+            "valid_pour_required_height": 0.8001463301919671,
+            "valid_pour_held_z": 1.048769423355854,
+            "valid_pour_source_tilt_deg": 1.6801099921221871,
+            "valid_pour_source_upright_tilt_deg": 3.1393306339150073,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.920075813483186e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3266453713283646,
+              -0.007662607467097825,
+              1.048769423355854
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3168593776154477,
+              0.015573096962799217,
+              1.048769423355854
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32175237447190613,
+              0.003955244747850696,
+              1.048769423355854
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3266453713283646,
+              0.015573096962799217,
+              1.048769423355854
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025212370640278668,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02365889215862727,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04680741602633459,
+              -0.9984993202884564,
+              0.028428387017698675
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054412701208579675,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03834886106973302,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3266453713283646,
+              -0.007662607467097825,
+              1.048769423355854
+            ],
+            "held_grasp_finger_b": [
+              0.3168593776154477,
+              0.015573096962799217,
+              1.048769423355854
+            ],
+            "held_grasp_midpoint": [
+              0.32175237447190613,
+              0.003955244747850696,
+              1.048769423355854
+            ],
+            "held_grasp_object_position": [
+              0.3266453713283646,
+              0.015573096962799217,
+              1.048769423355854
+            ],
+            "held_grasp_finger_gap": 0.025212370640278668,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02365889215862727,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04680741602633459,
+              -0.9984993202884564,
+              0.028428387017698675
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0054412701208579675,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03834886106973302,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2717613075429995,
+              -0.12860326667910535,
+              0.7611063918459363
+            ],
+            "target_position": [
+              0.2918768673309818,
+              -0.14325424591275873,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.024885476448901534,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20353174780458155,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063918459363,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08000653836772621,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09104805794558109,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1794509118628312,
+            "release_required_pad_clearance": 0.055524028972790546,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.194996728034457,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 189,
+            "max_placed_release_frames": 189
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "446bf97cc02d8672c30fce1664ff5980fa1a0b93d00665b0010d4cb70da6e4d7",
+    "visual_seed": 8725888342428576897,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b877a129d347dd07cd8584cb1e05a1665857615
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_63_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3114248975273741,
+              -0.1321742835098504,
+              1.0042957308646216
+            ],
+            "current_z": 1.0042957308646216,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.14318934205914535,
+            "gripper_z": 1.0056866290216186,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3079189880071111,
+              -0.13606268955963172,
+              1.0056866290216186
+            ],
+            "object_minus_gripper": [
+              0.0035059095202630286,
+              0.003888406049781329,
+              -0.0013908981569970003
+            ],
+            "object_to_gripper_xy": 0.005235561399911854,
+            "object_to_gripper_z": -0.0013908981569970003,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3114248975273741,
+              -0.15572904124964274,
+              1.0042957308646216
+            ],
+            "finger_b": [
+              0.3014062795392831,
+              -0.1321742835098504,
+              1.0042957308646216
+            ],
+            "finger_midpoint": [
+              0.3064155885333286,
+              -0.14395166237974655,
+              1.0042957308646216
+            ],
+            "object_minus_finger_midpoint": [
+              0.005009308994045503,
+              0.01177737886989616,
+              0.0
+            ],
+            "finger_gap": 0.025596861498465164,
+            "fingertip_max_gap": 0.09373719185166421,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012798430749232568,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0042957308646216,
+            "object_top_z": 1.0545168086171932,
+            "finger_top_clearance": 0.050221077752571563,
+            "fingertip_min_top_clearance": 0.015066323325771451,
+            "object_projection_between_fingers": 0.8468058443495913,
+            "object_to_finger_line_xy": 0.009219338066550065,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04936859592583211,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.043084017652469,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "split_aloha",
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+                "wrist",
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+                "wrist_2_joint",
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
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+              0.2736449707735585,
+              -0.11684053272298678,
+              0.7611219985700988
+            ],
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+              -0.1345959410231285,
+              0.7774145980897915
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_min_pad_clearance": 0.18302550881899476,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
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+            "object_tilt_deg": 4.921059470727839,
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+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 186,
+            "max_placed_release_frames": 186
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1346b6b0805943b84bb969df29db588cea395345226013d384dea0b18b6d2e99",
+    "visual_seed": 5985247312030540049,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a5dd8052b05d6b9242f879e6e9522733344e48d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_64_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.79812428935054,
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+            "max_source_upright_tilt_deg": 89.80485111112782,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "source_upright_return_tilt_deg": 2.613632915815542,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.6077032103111186e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3ebee9aa8edae92a00d9ea055973feba46320c11d57d25dcf5599a4cf06501ab",
+    "visual_seed": 5449905061215440228,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d347a06a81f83ce293dd0c92de098b4be77fa4cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_65_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              1.004814836559723
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+              0.004038825618093683,
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+            "fingertip_source": "active_contact_pad_positions",
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+              1.003580888019317
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+              0.0
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+              1.0
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+            "stable_success_frames": 166,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.05017321449392295,
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+              0.01656649957947051,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+              0.31592797864154154,
+              0.020457208271450464,
+              1.0470159377356705
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32074069004156136,
+              0.008534001132458474,
+              1.0470159377356705
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32555340144158124,
+              0.020457208271450464,
+              1.0470159377356705
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025715758553788808,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02412634694380505,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0315603946231209,
+              -0.9989998715997908,
+              0.03167330160931603
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005200170674989341,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03796085874017618,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32555340144158124,
+              -0.003389206006533516,
+              1.0470159377356705
+            ],
+            "held_grasp_finger_b": [
+              0.31592797864154154,
+              0.020457208271450464,
+              1.0470159377356705
+            ],
+            "held_grasp_midpoint": [
+              0.32074069004156136,
+              0.008534001132458474,
+              1.0470159377356705
+            ],
+            "held_grasp_object_position": [
+              0.32555340144158124,
+              0.020457208271450464,
+              1.0470159377356705
+            ],
+            "held_grasp_finger_gap": 0.025715758553788808,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02412634694380505,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0315603946231209,
+              -0.9989998715997908,
+              0.03167330160931603
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005200170674989341,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03796085874017618,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2716742616779774,
+              -0.11689113818162658,
+              0.7611067550953189
+            ],
+            "target_position": [
+              0.28710596781895326,
+              -0.13414948046459238,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.023151413191799683,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.204160637669907,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611067550953189,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08128379844253775,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08939968343489639,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18071048886519034,
+            "release_required_pad_clearance": 0.0546998417174482,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.443693266866652,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 182,
+            "max_placed_release_frames": 182
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0075a021263ebca2cb63376c846971c311df1e4194a56405cee8d98a8987b2e",
+    "visual_seed": 8958049165958946707,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..304e462e4fe67f7d5512eaaaa8d42d639d0cd865
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_66_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31596441200156244,
+              -0.13148435499244618,
+              1.0039956644690895
+            ],
+            "current_z": 1.0039956644690895,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.1428892756636131,
+            "gripper_z": 1.0050111548201461,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3124380862774348,
+              -0.1353778863461794,
+              1.0050111548201461
+            ],
+            "object_minus_gripper": [
+              0.0035263257241276436,
+              0.003893531353733215,
+              -0.001015490351056636
+            ],
+            "object_to_gripper_xy": 0.0052530523998098435,
+            "object_to_gripper_z": -0.001015490351056636,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31596441200156244,
+              -0.15507488847209128,
+              1.0039956644690895
+            ],
+            "finger_b": [
+              0.30594485949449496,
+              -0.13148435499244618,
+              1.0039956644690895
+            ],
+            "finger_midpoint": [
+              0.31095463574802873,
+              -0.1432796217322687,
+              1.0039956644690895
+            ],
+            "object_minus_finger_midpoint": [
+              0.005009776253533715,
+              0.011795266739822535,
+              0.0
+            ],
+            "finger_gap": 0.025630152209773133,
+            "fingertip_max_gap": 0.09389502569941346,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012815076104886544,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0039956644690895,
+            "object_top_z": 1.0541441738992288,
+            "finger_top_clearance": 0.050148509430139265,
+            "fingertip_min_top_clearance": 0.015044552829041762,
+            "object_projection_between_fingers": 0.8471750436692338,
+            "object_to_finger_line_xy": 0.009222207770537824,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049447512849706735,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1742296298844868,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2963281564416489,
+              -0.1435984252726664,
+              0.7611077143544882
+            ],
+            "target_position": [
+              0.2935779512306974,
+              -0.13512246590467258,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.008910977270211538,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21725151264404302,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611077143544882,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558317122849438,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08645192736806444,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18597678790389474,
+            "release_required_pad_clearance": 0.05322596368403222,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.470303792386592,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 231,
+            "max_placed_release_frames": 231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "65663b47f122f0763e25284b5995d28f6e7fab9351d0a98b21d430815df1558d",
+    "visual_seed": 5903643902684845703,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..892fce55ad144342c0e42cb853851862788330d5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_67_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.317411974236156,
+              -0.1335037307607297,
+              1.0034014573838226
+            ],
+            "current_z": 1.0034014573838226,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.14229500897370118,
+            "gripper_z": 1.004037837328758,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3136282994057481,
+              -0.13757947434204904,
+              1.004037837328758
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+              0.0040757435813193466,
+              -0.0006363799449353724
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+            "object_to_gripper_z": -0.0006363799449353724,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.1571620499507073,
+              1.0034014573838226
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+            "finger_b": [
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+              1.0034014573838226
+            ],
+            "finger_midpoint": [
+              0.31218809173263307,
+              -0.1453328903557185,
+              1.0034014573838226
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+              0.011829159594988814,
+              0.0
+            ],
+            "finger_gap": 0.025862557115206446,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04937585889647987,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.815814548062675,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3156764320141499,
+              0.04831588160865761,
+              0.7701463301919671
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+            "gripper_position": [
+              0.3196593222265098,
+              0.01634004704783172,
+              1.0456971323320803
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+              0.03197583456082589,
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+            "held_position": [
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+            "held_minus_target": [
+              0.007890479019594221,
+              -0.028048124438542217,
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+            "held_minus_gripper": [
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+              0.00392771012228367,
+              -0.0007529020140017995
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+            "max_held_gripper_dist": 0.005598426606517875,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463301919671,
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+            "gripper_z": 1.0456971323320803,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.36423000698433,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 2.7152582032248236,
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+            "source_tilt_deg": 2.3241685145357023,
+            "max_source_tilt_deg": 89.82803383093083,
+            "source_upright_tilt_deg": 2.0572356217844363,
+            "max_source_upright_tilt_deg": 89.73165397912837,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.3241685145357023,
+            "source_upright_return_tilt_deg": 2.0572356217844363,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.940696716308594e-08,
+            "max_target_xy_drift": 1.812804499357408e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3157,
+                0.0483,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0483,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.001,
+                -0.0016
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
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+                ],
+                "tilt_angle_deg": null,
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+                ],
+                "pour_height_range_m": [
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+                  0.0009562701228257092,
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+                  -0.001617348390734242
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.057236732281531,
+              "source_return_step_error_deg": 2.324137270913059,
+              "source_return_stable_frames": 5,
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+              "source_return_best_wrist_position": -1.612013339996338,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.612013339996338
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3157,
+              0.0483,
+              0.7701
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.001,
+              0.001,
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0241,
+              1.0337
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0904
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+              0.3,
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
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+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0009562701228257092,
+                0.0009811407091829686,
+                -0.001617348390734242
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.057236732281531,
+            "pour_controller_source_return_step_error_deg": 2.324137270913059,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.303611470075575,
+            "pour_controller_source_return_best_wrist_position": -1.612013339996338,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.612013339996338,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.032222932987315406,
+            "valid_pour_held_xy_dist": 0.029136865714736816,
+            "valid_pour_held_gripper_dist": 0.005591334235564956,
+            "valid_pour_required_height": 0.8001463301919671,
+            "valid_pour_held_z": 1.0449442303180785,
+            "valid_pour_source_tilt_deg": 2.3241685145357023,
+            "valid_pour_source_upright_tilt_deg": 2.0572356217844363,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.940696716308594e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32356691103374413,
+              -0.00355520542039993,
+              1.0449442303180785
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31388960897618057,
+              0.02026775717011539,
+              1.0449442303180785
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31872826000496235,
+              0.008356275874857731,
+              1.0449442303180785
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32356691103374413,
+              0.02026775717011539,
+              1.0449442303180785
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025713492989137367,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023982992306794928,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01812325784022841,
+              -0.9993554737766536,
+              0.03098684491678949
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00506709282378133,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03790413815708459,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32356691103374413,
+              -0.00355520542039993,
+              1.0449442303180785
+            ],
+            "held_grasp_finger_b": [
+              0.31388960897618057,
+              0.02026775717011539,
+              1.0449442303180785
+            ],
+            "held_grasp_midpoint": [
+              0.31872826000496235,
+              0.008356275874857731,
+              1.0449442303180785
+            ],
+            "held_grasp_object_position": [
+              0.32356691103374413,
+              0.02026775717011539,
+              1.0449442303180785
+            ],
+            "held_grasp_finger_gap": 0.025713492989137367,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023982992306794928,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01812325784022841,
+              -0.9993554737766536,
+              0.03098684491678949
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00506709282378133,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03790413815708459,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2940825689531211,
+              -0.13637525451028426,
+              0.7611063870616129
+            ],
+            "target_position": [
+              0.29467406451059913,
+              -0.1369474375829069,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0008229583604971123,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2161218531013965,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063870616129,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537797545699904,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08757888499100173,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1873110062931416,
+            "release_required_pad_clearance": 0.05378944249550087,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.588141711750043,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f3cf597bb900aa32c0f81ee7c04737afba07f722d3f74c910b7fc06c3030e9e7",
+    "visual_seed": 4453640847749653223,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c64ce1b11a3fb4c7647578cd4fb1e732b5e67c15
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_68_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "ridgebase",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+                "wrist_1_joint",
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+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005472725077960713,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03825678607545645,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3237151824160344,
+              -0.009816414770676163,
+              1.0463897346734816
+            ],
+            "held_grasp_finger_b": [
+              0.31366218199004714,
+              0.0135156251867807,
+              1.0463897346734816
+            ],
+            "held_grasp_midpoint": [
+              0.3186886822030408,
+              0.0018496052080522688,
+              1.0463897346734816
+            ],
+            "held_grasp_object_position": [
+              0.3237151824160344,
+              0.0135156251867807,
+              1.0463897346734816
+            ],
+            "held_grasp_finger_gap": 0.025405647130928667,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023681592313750766,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03753428292526022,
+              -0.9988093708911215,
+              0.031161165340348407
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005472725077960713,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03825678607545645,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2782853178761801,
+              -0.12797731366183668,
+              0.7611063328963089
+            ],
+            "target_position": [
+              0.2961612569513627,
+              -0.14101815429534045,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.022127194179291754,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20279643484099974,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063328963089,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07899737934223945,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09017835301456271,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17828240045001037,
+            "release_required_pad_clearance": 0.05508917650728136,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.263308977972407,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 184,
+            "max_placed_release_frames": 184
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e04b214e996735c1a5e56ee7e5940eaa8e84aa174968d52ea801d46c0122589e",
+    "visual_seed": 5681574112817310001,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..134e5424f14a32bd6715b77735610b4a590dbf88
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_69_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3141582983142574,
+              -0.13534289597335403,
+              1.0015349953859038
+            ],
+            "current_z": 1.0015349953859038,
+            "required_z": 0.8611064484101211,
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+            "gripper_z": 1.002684978449735,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3105965289444177,
+              -0.13926157144474266,
+              1.002684978449735
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+              0.003561769369839707,
+              0.003918675471388633,
+              -0.0011499830638310726
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+            "object_to_gripper_z": -0.0011499830638310726,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3141582983142574,
+              -0.15895647541372623,
+              1.0015349953859038
+            ],
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+              -0.13534289597335403,
+              1.0015349953859038
+            ],
+            "finger_midpoint": [
+              0.309138692193679,
+              -0.14714968569354014,
+              1.0015349953859038
+            ],
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+              0.00501960612057839,
+              0.011806789720186117,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "finger_top_clearance": 0.0502462336697127,
+            "fingertip_min_top_clearance": 0.015073870100913827,
+            "object_projection_between_fingers": 0.8469201317477792,
+            "object_to_finger_line_xy": 0.00923891271351685,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04930494884155169,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9266733199731103,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08195523455171229,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526882438729881,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18169008154394112,
+            "release_required_pad_clearance": 0.05263441219364941,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3286488792067858,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 185,
+            "max_placed_release_frames": 185
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8bdfc01447abff1a528126904531106e0cc92cd14f04004e9f9afb3830ade853",
+    "visual_seed": 7540259796419345261,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7d1d5c094c8d6bc644da817c78aa5cdde5f8ea5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_6_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3182546798275595,
+              -0.13204694238153727,
+              1.0036121441855284
+            ],
+            "current_z": 1.0036121441855284,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.14250569577540695,
+            "gripper_z": 1.0042034234380661,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31453902223056707,
+              -0.13614974765761756,
+              1.0042034234380661
+            ],
+            "object_minus_gripper": [
+              0.003715657596992439,
+              0.004102805276080285,
+              -0.0005912792525377686
+            ],
+            "object_to_gripper_xy": 0.005535261738302882,
+            "object_to_gripper_z": -0.0005912792525377686,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3182546798275595,
+              -0.15551790004499594,
+              1.0036121441855284
+            ],
+            "finger_b": [
+              0.3075997347868087,
+              -0.13204694238153727,
+              1.0036121441855284
+            ],
+            "finger_midpoint": [
+              0.3129272073071841,
+              -0.14378242121326662,
+              1.0036121441855284
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011735478831729346,
+              0.0
+            ],
+            "finger_gap": 0.025776223685041403,
+            "fingertip_max_gap": 0.09359703924218518,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0537123477034234,
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+            "fingertip_min_top_clearance": 0.015030061055368504,
+            "object_projection_between_fingers": 0.8291307771851849,
+            "object_to_finger_line_xy": 0.009702032656671524,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04929851962109259,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8348231408986715,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3187918475872699,
+              0.04680345845096566,
+              0.7701463301919671
+            ],
+            "gripper_position": [
+              0.32299883036769494,
+              0.013620174621338993,
+              1.0464079078212065
+            ],
+            "target_minus_gripper": [
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+              0.03318328382962667,
+              -0.2762615776292394
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+            "held_position": [
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+              0.017621344080646896,
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+            "held_minus_target": [
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+              0.2755488771682768
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+            "held_minus_gripper": [
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+              0.004001169459307903,
+              -0.000712700460962612
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+            "xy_dist": 0.03344890177318764,
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+            "held_gripper_dist": 0.005561686450531857,
+            "max_held_gripper_dist": 0.00556844092015825,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463301919671,
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+            "required_height": 0.8001463301919671,
+            "gripper_z": 1.0464079078212065,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.43028476644751,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 2.1564804770647257,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.6511989009305446,
+            "max_source_tilt_deg": 89.7439063256266,
+            "source_upright_tilt_deg": 2.4053953022680075,
+            "max_source_upright_tilt_deg": 89.79190262763078,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.6511989009305446,
+            "source_upright_return_tilt_deg": 2.4053953022680075,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.1175870895385742e-08,
+            "max_target_xy_drift": 1.556172860727118e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3188,
+                0.0468,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0468,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0011,
+                -0.0008,
+                -0.0014
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+                  -0.0013820169693229906
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.405395249518817,
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+              "wrist_compensated_return_position": -1.6134052276611328
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3188,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0011,
+              -0.0008,
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0208,
+              1.034
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0904
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+            "pour_controller_height_range_1": [
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+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0011064980396851012,
+                -0.0008374221594177164,
+                -0.0013820169693229906
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.405395249518817,
+            "pour_controller_source_return_step_error_deg": 1.6512207304492084,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.3983100120656218,
+            "pour_controller_source_return_best_wrist_position": -1.6134052276611328,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6134052276611328,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03344890177318764,
+            "valid_pour_held_xy_dist": 0.030259791859979526,
+            "valid_pour_held_gripper_dist": 0.005561686450531857,
+            "valid_pour_required_height": 0.8001463301919671,
+            "valid_pour_held_z": 1.045695207360244,
+            "valid_pour_source_tilt_deg": 1.6511989009305446,
+            "valid_pour_source_upright_tilt_deg": 2.4053953022680075,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.1175870895385742e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.326795546999849,
+              -0.005855251820163752,
+              1.045695207360244
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3166364083414945,
+              0.017621344080646896,
+              1.045695207360244
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3217159776706717,
+              0.005883046130241572,
+              1.045695207360244
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.326795546999849,
+              0.017621344080646896,
+              1.045695207360244
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025580434972252368,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023754534434316386,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02939461678123676,
+              -0.9991188903931627,
+              0.029956624706726664
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054336621451000515,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038141606840626646,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.326795546999849,
+              -0.005855251820163752,
+              1.045695207360244
+            ],
+            "held_grasp_finger_b": [
+              0.3166364083414945,
+              0.017621344080646896,
+              1.045695207360244
+            ],
+            "held_grasp_midpoint": [
+              0.3217159776706717,
+              0.005883046130241572,
+              1.045695207360244
+            ],
+            "held_grasp_object_position": [
+              0.326795546999849,
+              0.017621344080646896,
+              1.045695207360244
+            ],
+            "held_grasp_finger_gap": 0.025580434972252368,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023754534434316386,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02939461678123676,
+              -0.9991188903931627,
+              0.029956624706726664
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0054336621451000515,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038141606840626646,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2988994549823429,
+              -0.1343442580348512,
+              0.7611064192018243
+            ],
+            "target_position": [
+              0.29566532417253344,
+              -0.13534312641429186,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0033848692935481415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21876333746549878,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064192018243,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587027336038095,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546380801286073,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18908676735865768,
+            "release_required_pad_clearance": 0.052731904006430366,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.515860767360733,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b912b0929a2f545c84d7800c3e6feef61f55d84842187b144deedafabdfc89ca",
+    "visual_seed": 1752789156041587294,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d7508ea96da036966f7badc49cb13560b3ac991
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_70_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3122249759992225,
+              -0.13565046287858595,
+              1.003585785808878
+            ],
+            "current_z": 1.003585785808878,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023784348218834513,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04336439953463513,
+              -0.9986969064469671,
+              0.026907580832522426
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.005587129413930435,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03826834630930837,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29478914853237165,
+              -0.14309294933556552,
+              0.7611064069204758
+            ],
+            "target_position": [
+              0.28992834544603957,
+              -0.1402594301381334,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005626387623183434,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22114495167696852,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064069204758,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587092812966872,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08754302653561268,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1903738199270925,
+            "release_required_pad_clearance": 0.05377151326780634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.552204747007622,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 196,
+            "max_placed_release_frames": 196
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78b36581f227d2920937eeaa50d843d6bd0e0a338754ad25b7e4555919f29233",
+    "visual_seed": 7131662504170232326,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f88ee38f3364388e251cb33017f4e62d3a0d776
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_71_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.3132386915226595,
+              -0.13430578177396474,
+              1.0037997773710812
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+            "lift_margin": 0.14269332896096,
+            "gripper_z": 1.0050136054936045,
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+              -0.13847305389954429,
+              1.0050136054936045
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+            "object_to_gripper_z": -0.0012138281225233527,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.15793527424923626,
+              1.0037997773710812
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+              1.0037997773710812
+            ],
+            "finger_midpoint": [
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+              -0.1461205280116005,
+              1.0037997773710812
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+              0.01181474623763576,
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+            "object_to_finger_line_xy": 0.009719005810435236,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04925360125076782,
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.32192335641447944,
+              0.04955797535055138,
+              0.7701463897966117
+            ],
+            "gripper_position": [
+              0.324825675969307,
+              0.016483661079462822,
+              1.0480078306200622
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+            "target_minus_gripper": [
+              -0.0029023195548275593,
+              0.033074314271088555,
+              -0.27786144082345055
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+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f34590225c802ff15ceb463c3af7e603aebbdc0798edbab61a68599ea8396d72",
+    "visual_seed": 1249578172022345284,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1921898a8a81684a23bc70823457a50acc67d0f1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_72_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3120142897739294,
+              -0.13520603445667684,
+              1.0023336632384123
+            ],
+            "current_z": 1.0023336632384123,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14122715522364637,
+            "gripper_z": 1.0030194807441297,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3086350340526711,
+              -0.13912798882446076,
+              1.0030194807441297
+            ],
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+              0.0033792557212583008,
+              0.00392195436778392,
+              -0.0006858175057173899
+            ],
+            "object_to_gripper_xy": 0.005176977428252544,
+            "object_to_gripper_z": -0.0006858175057173899,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3120142897739294,
+              -0.15845024608021901,
+              1.0023336632384123
+            ],
+            "finger_b": [
+              0.30167914693099884,
+              -0.13520603445667684,
+              1.0023336632384123
+            ],
+            "finger_midpoint": [
+              0.30684671835246413,
+              -0.14682814026844793,
+              1.0023336632384123
+            ],
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+              0.005167571421465289,
+              0.011622105811771088,
+              0.0
+            ],
+            "finger_gap": 0.025438328396020688,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0530305275076954,
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+            "fingertip_min_top_clearance": 0.015209059280784963,
+            "object_projection_between_fingers": 0.8349346839531792,
+            "object_to_finger_line_xy": 0.009443712010502823,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049485191578590895,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.66920780137536,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3235178402668659,
+              0.046742933659486556,
+              0.7701465090059014
+            ],
+            "gripper_position": [
+              0.3263737092968023,
+              0.01331625817252434,
+              1.0464985093432373
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+              0.033426675486962217,
+              -0.27635200033733587
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+              0.017063420814078117,
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+            "held_minus_target": [
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+              -0.02967951284540844,
+              0.27553244500030294
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+            "held_minus_gripper": [
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+              0.003747162641553777,
+              -0.0008195553370329289
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+            "held_gripper_dist": 0.00521738402335937,
+            "max_held_gripper_dist": 0.005225484853082151,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059014,
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+            "required_height": 0.8001465090059015,
+            "gripper_z": 1.0464985093432373,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.45594578715925,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.2911154735575057,
+            "max_source_tilt_deg": 89.95125560853808,
+            "source_upright_tilt_deg": 1.2269118689634588,
+            "max_source_upright_tilt_deg": 89.71448240175224,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.2911154735575057,
+            "source_upright_return_tilt_deg": 1.2269118689634588,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.999185021242475e-08,
+            "max_target_xy_drift": 1.77606902124615e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3235,
+                0.0467,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0467,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0013,
+                -0.0015
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+              "controller_last_pour_pose_position": [
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+                0.0203,
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+              "controller_t": 0.0,
+              "source_size": [
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+              ],
+              "height_range_2": [
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.2269276743346649,
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+              "wrist_compensated_return_position": -1.615078091621399
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            ],
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0013,
+              -0.0015
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0203,
+              1.0339
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
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+            "pour_controller_height_range_2": [
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+            ],
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0008548659982500696,
+                -0.0012704776327735483,
+                -0.0014551397887606515
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.2269276743346649,
+            "pour_controller_source_return_step_error_deg": 2.291116284476168,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.28162370112515,
+            "pour_controller_source_return_best_wrist_position": -1.615078091621399,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.615078091621399,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.033548451857378314,
+            "valid_pour_held_xy_dist": 0.030360143803861015,
+            "valid_pour_held_gripper_dist": 0.00521738402335937,
+            "valid_pour_required_height": 0.8001465090059015,
+            "valid_pour_held_z": 1.0456789540062044,
+            "valid_pour_source_tilt_deg": 2.2911154735575057,
+            "valid_pour_source_upright_tilt_deg": 1.2269118689634588,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.999185021242475e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32991040227676116,
+              -0.006549699323017971,
+              1.0456789540062044
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3205533163822837,
+              0.017063420814078117,
+              1.0456789540062044
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3252318593295224,
+              0.005256860745530073,
+              1.0456789540062044
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32991040227676116,
+              0.017063420814078117,
+              1.0456789540062044
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025399498007747358,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023642489883899154,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0037173154847149068,
+              -0.9997707421360307,
+              0.021086600825117596
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004728947590811311,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037933788368432836,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32991040227676116,
+              -0.006549699323017971,
+              1.0456789540062044
+            ],
+            "held_grasp_finger_b": [
+              0.3205533163822837,
+              0.017063420814078117,
+              1.0456789540062044
+            ],
+            "held_grasp_midpoint": [
+              0.3252318593295224,
+              0.005256860745530073,
+              1.0456789540062044
+            ],
+            "held_grasp_object_position": [
+              0.32991040227676116,
+              0.017063420814078117,
+              1.0456789540062044
+            ],
+            "held_grasp_finger_gap": 0.025399498007747358,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023642489883899154,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0037173154847149068,
+              -0.9997707421360307,
+              0.021086600825117596
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004728947590811311,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037933788368432836,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29019068408388304,
+              -0.1460532345193229,
+              0.7611066561045536
+            ],
+            "target_position": [
+              0.29004770784435696,
+              -0.136599676776,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0094546388726069,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2178243470864621,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066561045536,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519197109887729,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870636964418157,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1874544655374942,
+            "release_required_pad_clearance": 0.053531848220907854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0748177222290156,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c78a85e7dd1c8b1ce3d6b25eedb769b1587e2804fd6b875c062ffc110844b32e",
+    "visual_seed": 4032961904142734670,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..633e8c7339226164d5e35e203e5e58a3260d05a3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_73_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.310042903000877,
+              -0.13582130500188636,
+              1.004526716660573
+            ],
+            "current_z": 1.004526716660573,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1434200894365174,
+            "gripper_z": 1.0051341515949272,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3061609784606921,
+              -0.13993657358471137,
+              1.0051341515949272
+            ],
+            "object_minus_gripper": [
+              0.003881924540184878,
+              0.004115268582825016,
+              -0.0006074349343543339
+            ],
+            "object_to_gripper_xy": 0.005657276168305397,
+            "object_to_gripper_z": -0.0006074349343543339,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.310042903000877,
+              -0.15956621841051571,
+              1.004526716660573
+            ],
+            "finger_b": [
+              0.2996009634350571,
+              -0.13582130500188636,
+              1.004526716660573
+            ],
+            "finger_midpoint": [
+              0.304821933217967,
+              -0.14769376170620102,
+              1.004526716660573
+            ],
+            "object_minus_finger_midpoint": [
+              0.005220969782909979,
+              0.011872456704314666,
+              0.0
+            ],
+            "finger_gap": 0.02593944900493342,
+            "fingertip_max_gap": 0.09323824378601522,
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+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2887438152085061,
+              -0.13669559326199576,
+              0.7611064057051145
+            ],
+            "target_position": [
+              0.28741920549139305,
+              -0.13729191662420326,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.001452650148860631,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21621927343741165,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064057051145,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530988820095418,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587272531354882,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1873951917250796,
+            "release_required_pad_clearance": 0.05293636265677441,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9099900726310727,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "821165d0143aa89fe8c48f5a9f9a2acd99b3a57c0b3f6a1b5369efef12961341",
+    "visual_seed": 6968029266432979597,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_74_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4df50e32067a3de194e5bc62a304aba4657d291c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_74_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+              -0.14746041110361532,
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+              1.0
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+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+              ],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "force_virtual_attach": false,
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+            "target_position": [
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+            "xy_threshold": 0.15,
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+            "rotation_satisfied_by_source_tilt": true,
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+                "left_inner_finger",
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+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a939e3ccf602121234db2205d65b416d31fe0eae33d527c328e0701d9fca6ac",
+    "visual_seed": 2532136837029351094,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4daa811ed3cca75cb44346aea1322ad560fef0b9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_75_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3171091312771926,
+              -0.13656537085274892,
+              1.0035323542745995
+            ],
+            "current_z": 1.0035323542745995,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14242590586447834,
+            "gripper_z": 1.0041971696901721,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31336031739907066,
+              -0.14058899127863042,
+              1.0041971696901721
+            ],
+            "object_minus_gripper": [
+              0.003748813878121926,
+              0.004023620425881502,
+              -0.0006648154155726171
+            ],
+            "object_to_gripper_xy": 0.005499375130355302,
+            "object_to_gripper_z": -0.0006648154155726171,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3171091312771926,
+              -0.160285236181283,
+              1.0035323542745995
+            ],
+            "finger_b": [
+              0.3068509802050739,
+              -0.13656537085274892,
+              1.0035323542745995
+            ],
+            "finger_midpoint": [
+              0.31198005574113324,
+              -0.14842530351701594,
+              1.0035323542745995
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051290755360593465,
+              0.01185993266426702,
+              0.0
+            ],
+            "finger_gap": 0.025843019843319444,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0536955124454848,
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+            "fingertip_min_top_clearance": 0.01504894745126557,
+            "object_projection_between_fingers": 0.8424379367509949,
+            "object_to_finger_line_xy": 0.009415384247878925,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04952705331004857,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0417345986288526,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3177839628464406,
+              0.04199812453859307,
+              0.7701464494012565
+            ],
+            "gripper_position": [
+              0.3203991935840188,
+              0.011166918150416733,
+              1.0454800258717007
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+              0.030831206388176338,
+              -0.2753335764704442
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+            "held_position": [
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+              0.01517500845114328,
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+            "held_minus_target": [
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+              -0.02682311608744979,
+              0.27455606433447033
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+            "held_minus_gripper": [
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+              0.004008090300726547,
+              -0.000777512135973879
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+            "held_gripper_dist": 0.005532654905291732,
+            "max_held_gripper_dist": 0.005540364192440342,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012565,
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+            "required_height": 0.8001464494012566,
+            "gripper_z": 1.0454800258717007,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.41808604858987,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
+            ],
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+            "source_tilt_deg": 1.6931944882215257,
+            "max_source_tilt_deg": 89.7676352853068,
+            "source_upright_tilt_deg": 3.7733535293400293,
+            "max_source_upright_tilt_deg": 89.8163397625332,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.6931944882215257,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.679882693323606e-08,
+            "max_target_xy_drift": 1.4604848462278142e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.042,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.042,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0019,
+                -0.0018
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
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+                0.2,
+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "source_return_effective_target_deg": 8.0,
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+              "wrist_compensated_return_position": -1.6143041849136353
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+              -0.0
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+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0018
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0336
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.7733450469605256,
+            "pour_controller_source_return_step_error_deg": 1.6931871715877023,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.772073441136199,
+            "pour_controller_source_return_best_wrist_position": -1.6143041849136353,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6143041849136353,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.030941924942722927,
+            "valid_pour_held_xy_dist": 0.0275642745073248,
+            "valid_pour_held_gripper_dist": 0.005532654905291732,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0447025137357269,
+            "valid_pour_source_tilt_deg": 1.6931944882215257,
+            "valid_pour_source_upright_tilt_deg": 3.7733535293400293,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.679882693323606e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3241329527247085,
+              -0.008108433317340381,
+              1.0447025137357269
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31383365666498175,
+              0.01517500845114328,
+              1.0447025137357269
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31898330469484515,
+              0.003533287566901449,
+              1.0447025137357269
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3241329527247085,
+              0.01517500845114328,
+              1.0447025137357269
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025459657497937247,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02382122592772036,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05711635148293588,
+              -0.9978321910034027,
+              0.03269007480301511
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005818317874718843,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03839789532000905,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3241329527247085,
+              -0.008108433317340381,
+              1.0447025137357269
+            ],
+            "held_grasp_finger_b": [
+              0.31383365666498175,
+              0.01517500845114328,
+              1.0447025137357269
+            ],
+            "held_grasp_midpoint": [
+              0.31898330469484515,
+              0.003533287566901449,
+              1.0447025137357269
+            ],
+            "held_grasp_object_position": [
+              0.3241329527247085,
+              0.01517500845114328,
+              1.0447025137357269
+            ],
+            "held_grasp_finger_gap": 0.025459657497937247,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02382122592772036,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05711635148293588,
+              -0.9978321910034027,
+              0.03269007480301511
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005818317874718843,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03839789532000905,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.28005945184930175,
+              -0.11837504788479059,
+              0.7611126253792253
+            ],
+            "target_position": [
+              0.29445096994424164,
+              -0.13846459184405566,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.024712457780808158,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2090679056975207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611126253792253,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08256751912655075,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09107890734243944,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1863153823826354,
+            "release_required_pad_clearance": 0.05553945367121972,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.207739355550453,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 188,
+            "max_placed_release_frames": 188
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0cc627df33f24147e1985ad287bedade395258ea2e370b879dbea8e1ddf7e784",
+    "visual_seed": 6642005601619879543,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..907c777f914cdcd803074e3395989327d8b7b447
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_76_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3128863069474682,
+              -0.13696701353248789,
+              1.0032209098381717
+            ],
+            "current_z": 1.0032209098381717,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1421144614280505,
+            "gripper_z": 1.0043514803095688,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3092189783556767,
+              -0.14095579623453175,
+              1.0043514803095688
+            ],
+            "object_minus_gripper": [
+              0.00366732859179153,
+              0.003988782702043864,
+              -0.0011305704713970854
+            ],
+            "object_to_gripper_xy": 0.005418457939699818,
+            "object_to_gripper_z": -0.0011305704713970854,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3128863069474682,
+              -0.1606006048354702,
+              1.0032209098381717
+            ],
+            "finger_b": [
+              0.302675468922755,
+              -0.13696701353248789,
+              1.0032209098381717
+            ],
+            "finger_midpoint": [
+              0.3077808879351116,
+              -0.14878380918397904,
+              1.0032209098381717
+            ],
+            "object_minus_finger_midpoint": [
+              0.005105419012356616,
+              0.011816795651491158,
+              0.0
+            ],
+            "finger_gap": 0.025745054885226618,
+            "fingertip_max_gap": 0.09326234410918907,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012872527442613309,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0032209098381717,
+            "object_top_z": 1.0534769566727022,
+            "finger_top_clearance": 0.050256046834530554,
+            "fingertip_min_top_clearance": 0.015076814050359133,
+            "object_projection_between_fingers": 0.842697679270378,
+            "object_to_finger_line_xy": 0.009373402923895156,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04913117205459454,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.500547086632365,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
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+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.28123421532641557,
+              -0.14665839183386545,
+              0.7611087905659619
+            ],
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+              0.29049512954891665,
+              -0.14164952332628256,
+              0.7774145980897915
+            ],
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+            "gripper_away_ok": true,
+            "object_z": 0.7611087905659619,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.0862550674449346,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18091723667743392,
+            "release_required_pad_clearance": 0.0531275337224673,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2722297823422786,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70e8e9c869c1dd731913227b7e63c112197f32abb3f5d093cb79a6dd0ec29998",
+    "visual_seed": 7658418104422954441,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c87c68c5c0bdfaa408bbe2172c9cfe44fc30098
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_77_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+      "target": "beaker_a",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+            },
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+          }
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 1.59275221290154e-07,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fcd9900378404efc67f8af6e677820c4ee1a404180286f960f7215c48793f18",
+    "visual_seed": 6651244067834972281,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ac1675c0389c6d5a0bdad7d0e63548738e709c9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_78_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              -0.14734586678738135,
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+              0.011878590163323738,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.016603022343834012,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+            "valid_pour_source_upright_tilt_deg": 2.9019395119846365,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.233205376877305e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3292987328772904,
+              -0.0030221482002528387,
+              1.0475644320616513
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31944413166847657,
+              0.020473248363991323,
+              1.0475644320616513
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32437143227288345,
+              0.008725550081869243,
+              1.0475644320616513
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3292987328772904,
+              0.020473248363991323,
+              1.0475644320616513
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025478359929474486,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023892710681731977,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04337500908365929,
+              -0.9987176509501366,
+              0.026108662693316124
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005440714499308516,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03820133814617721,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3292987328772904,
+              -0.0030221482002528387,
+              1.0475644320616513
+            ],
+            "held_grasp_finger_b": [
+              0.31944413166847657,
+              0.020473248363991323,
+              1.0475644320616513
+            ],
+            "held_grasp_midpoint": [
+              0.32437143227288345,
+              0.008725550081869243,
+              1.0475644320616513
+            ],
+            "held_grasp_object_position": [
+              0.3292987328772904,
+              0.020473248363991323,
+              1.0475644320616513
+            ],
+            "held_grasp_finger_gap": 0.025478359929474486,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023892710681731977,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04337500908365929,
+              -0.9987176509501366,
+              0.026108662693316124
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005440714499308516,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03820133814617721,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.27452447450934736,
+              -0.12462902621219454,
+              0.761106419350824
+            ],
+            "target_position": [
+              0.2877665955597134,
+              -0.1408381388994044,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.020930578205563634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21024862779228312,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106419350824,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08023681295210426,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08888191663157578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1862520592470067,
+            "release_required_pad_clearance": 0.05444095831578789,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9096927416219516,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 189,
+            "max_placed_release_frames": 189
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "946b7ba7d67acf5ddfd4caef3c10c0407184124631f045aeaa71777054443dcf",
+    "visual_seed": 3135902665068593774,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d136adc27a2c5a8cb90d5aa14578b4ef134198d7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_79_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31831154503732206,
+              -0.1315565359411108,
+              1.002668853406763
+            ],
+            "current_z": 1.002668853406763,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14156234539199686,
+            "gripper_z": 1.0038003527740975,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3143849309959801,
+              -0.13564159217104937,
+              1.0038003527740975
+            ],
+            "object_minus_gripper": [
+              0.00392661404134198,
+              0.004085056229938572,
+              -0.0011314993673345874
+            ],
+            "object_to_gripper_xy": 0.005666214100386954,
+            "object_to_gripper_z": -0.0011314993673345874,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31831154503732206,
+              -0.1554619853857218,
+              1.002668853406763
+            ],
+            "finger_b": [
+              0.308046348752554,
+              -0.1315565359411108,
+              1.002668853406763
+            ],
+            "finger_midpoint": [
+              0.313178946894938,
+              -0.1435092606634163,
+              1.002668853406763
+            ],
+            "object_minus_finger_midpoint": [
+              0.005132598142384037,
+              0.011952724722305491,
+              0.0
+            ],
+            "finger_gap": 0.026016240464634185,
+            "fingertip_max_gap": 0.0933112670282242,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013008120232317079,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002668853406763,
+            "object_top_z": 1.052683835275154,
+            "finger_top_clearance": 0.05001498186839104,
+            "fingertip_min_top_clearance": 0.015004494560517345,
+            "object_projection_between_fingers": 0.84431547710766,
+            "object_to_finger_line_xy": 0.009432344045178781,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049155633514112104,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7702347884183296,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "franka",
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+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
+                "joint4",
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+                "left_inner_finger",
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+                "panda_joint1",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29873274954603934,
+              -0.13833581792232902,
+              0.7611063604339471
+            ],
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+              -0.13460374144000342,
+              0.7774145980897915
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+            "release_fingertip_min_gap": 0.08785513782485536,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18770280014603327,
+            "release_required_pad_clearance": 0.053927568912427684,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8651695835542674,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ccdf2d6d0c99096b562955c828af2e77fa8ed0f93d4115dc14d5a3067a243267",
+    "visual_seed": 161345243312235677,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e56739b7ad8a76005f84636733844040ad4c8402
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_7_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+              1.0
+            ],
+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                {
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+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "max_wrist_deg": 120.34854789264998,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.96466973231986,
+            "source_upright_tilt_deg": 2.5211731422546553,
+            "max_source_upright_tilt_deg": 89.94368170060486,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.6976416743490221,
+            "source_upright_return_tilt_deg": 2.5211731422546553,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.1828894262453654e-08,
+            "max_target_xy_drift": 7.920075813483186e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0421,
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+              "controller_target_position": [
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+                0.0421,
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+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "123a73188cef50f219c92c18b26313e2b220067c4c4d9b453941103479b32dee",
+    "visual_seed": 6843205474156890956,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd9b5ca945d1f77abb0706c9faa563b90c68cc37
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_80_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3257558739028521,
+              0.00972061545949978,
+              1.046066964577426
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3306972579368845,
+              0.021534602952661724,
+              1.046066964577426
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025611526831516854,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023777494707300603,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.016397591746393422,
+              -0.9994695324023766,
+              0.028138457390080474
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005145117119863393,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03799355631254918,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3306972579368845,
+              -0.002093372033662162,
+              1.046066964577426
+            ],
+            "held_grasp_finger_b": [
+              0.3208144898688197,
+              0.021534602952661724,
+              1.046066964577426
+            ],
+            "held_grasp_midpoint": [
+              0.3257558739028521,
+              0.00972061545949978,
+              1.046066964577426
+            ],
+            "held_grasp_object_position": [
+              0.3306972579368845,
+              0.021534602952661724,
+              1.046066964577426
+            ],
+            "held_grasp_finger_gap": 0.025611526831516854,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023777494707300603,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.016397591746393422,
+              -0.9994695324023766,
+              0.028138457390080474
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005145117119863393,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03799355631254918,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.297522236144267,
+              -0.16063983899627182,
+              0.7611080401484213
+            ],
+            "target_position": [
+              0.29244573706605514,
+              -0.13927450018612758,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.021960158136118724,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22028785668222503,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611080401484213,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591729952061108,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0918138757566118,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18577867066310932,
+            "release_required_pad_clearance": 0.055906937878305904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.025919892307843,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 173,
+            "max_placed_release_frames": 173
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b278b3d2c539ad3f29687f70e58984b8ff65b93eab20a7cfaeaebc86c24b82b",
+    "visual_seed": 1566578765832095423,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7da5d22e9158a6a1b8573c6546ca9efd15fb6a0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_81_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31341120503013936,
+              -0.1330821631019735,
+              1.0031898717497718
+            ],
+            "current_z": 1.0031898717497718,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14208330413036097,
+            "gripper_z": 1.0044843630130802,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30954481299560277,
+              -0.1372288483853509,
+              1.0044843630130802
+            ],
+            "object_minus_gripper": [
+              0.003866392034536592,
+              0.004146685283377416,
+              -0.0012944912633083838
+            ],
+            "object_to_gripper_xy": 0.0056695666681067305,
+            "object_to_gripper_z": -0.0012944912633083838,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31341120503013936,
+              -0.15680014263491804,
+              1.0031898717497718
+            ],
+            "finger_b": [
+              0.30290916379066735,
+              -0.1330821631019735,
+              1.0031898717497718
+            ],
+            "finger_midpoint": [
+              0.3081601844104034,
+              -0.14494115286844578,
+              1.0031898717497718
+            ],
+            "object_minus_finger_midpoint": [
+              0.00525102061973598,
+              0.011858989766472289,
+              0.0
+            ],
+            "finger_gap": 0.025939071365813145,
+            "fingertip_max_gap": 0.09306130954515193,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012969535682906574,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0031898717497718,
+            "object_top_z": 1.0530744555681228,
+            "finger_top_clearance": 0.049884583818351036,
+            "fingertip_min_top_clearance": 0.014965375145505277,
+            "object_projection_between_fingers": 0.8360774918014489,
+            "object_to_finger_line_xy": 0.009602780132685293,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04903065477257597,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0508591921108326,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2921771206944897,
+              -0.13691883730643598,
+              0.7611064666245011
+            ],
+            "target_position": [
+              0.2909071622277627,
+              -0.1378177884397151,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00155592662013201,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21635560476174492,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064666245011,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578568332365741,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506777219360089,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18681857099533233,
+            "release_required_pad_clearance": 0.052533886096800445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1370560714092109,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b7cd6cdb665465e79413f67f476dc13ee161a15f1d60f76063c8d82fe8f71dd",
+    "visual_seed": 6294504219261929699,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8ea099af7df7a5c886637a788d9430d1fc903ce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_82_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              1.0010302884915
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+            "gripper_z": 1.0023427160113618,
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+            "gripper_position": [
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+              -0.1415605598432234,
+              1.0023427160113618
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+              0.004033140989848194,
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+              -0.16109146656022785,
+              1.0010302884915
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+              1.0010302884915
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+              -0.14930944270680152,
+              1.0010302884915
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+              0.011782023853426304,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 3.172309188118443,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+                }
+              ],
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.011331567228195102,
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+              0.00387009905671647,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.42423321884289,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.269040234354089,
+            "max_source_tilt_deg": 89.95905340375751,
+            "source_upright_tilt_deg": 2.1549703665207813,
+            "max_source_upright_tilt_deg": 89.83876449150185,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.269040234354089,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.332993508609764e-08,
+            "max_target_xy_drift": 2.1073424256820846e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+                0.7701
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                ],
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  0.0019484273641282718,
+                  0.001418580698019189,
+                  0.0003431628468897577
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.1549700007315056,
+              "source_return_step_error_deg": 2.26904434997843,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.256758949558262,
+              "source_return_best_wrist_position": -1.6156940460205078,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6156940460205078
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3151,
+              0.043,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
+              0.3151,
+              0.043,
+              0.7701
+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0019,
+              0.0014,
+              0.0003
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3171,
+              0.0192,
+              1.0357
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0019484273641282718,
+                0.001418580698019189,
+                0.0003431628468897577
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.1549700007315056,
+            "pour_controller_source_return_step_error_deg": 2.26904434997843,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.256758949558262,
+            "pour_controller_source_return_best_wrist_position": -1.6156940460205078,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6156940460205078,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03185637679032436,
+            "valid_pour_held_xy_dist": 0.028719761405092616,
+            "valid_pour_held_gripper_dist": 0.005588419288385435,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0463535118188436,
+            "valid_pour_source_tilt_deg": 2.269040234354089,
+            "valid_pour_source_upright_tilt_deg": 2.1549703665207813,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.332993508609764e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32236171415150433,
+              -0.008463351241304456,
+              1.0463535118188436
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3127450612410055,
+              0.015201666284911573,
+              1.0463535118188436
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3175533876962549,
+              0.003369157521803558,
+              1.0463535118188436
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32236171415150433,
+              0.015201666284911573,
+              1.0463535118188436
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02554433533519942,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02389833644910124,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02600230973215388,
+              -0.9992927846065756,
+              0.027162667796619466
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005124355674338206,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03802113703310985,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32236171415150433,
+              -0.008463351241304456,
+              1.0463535118188436
+            ],
+            "held_grasp_finger_b": [
+              0.3127450612410055,
+              0.015201666284911573,
+              1.0463535118188436
+            ],
+            "held_grasp_midpoint": [
+              0.3175533876962549,
+              0.003369157521803558,
+              1.0463535118188436
+            ],
+            "held_grasp_object_position": [
+              0.32236171415150433,
+              0.015201666284911573,
+              1.0463535118188436
+            ],
+            "held_grasp_finger_gap": 0.02554433533519942,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02389833644910124,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02600230973215388,
+              -0.9992927846065756,
+              0.027162667796619466
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005124355674338206,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03802113703310985,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.27201786090040886,
+              -0.12606105509823673,
+              0.76112035510139
+            ],
+            "target_position": [
+              0.28772093022890255,
+              -0.13911578763534907,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.020420882154084795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20488582035645403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76112035510139,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07963070083600159,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08833083619132755,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17957437529195178,
+            "release_required_pad_clearance": 0.054165418095663775,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3211569879508556,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 185,
+            "max_placed_release_frames": 185
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac63c35520538120269b11c016f5b6391f93f0f5ea6d6451835cdb7b463dbcaa",
+    "visual_seed": 9070490312129057571,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d57ff71fedd7b1708def3d81b67048f12f5fe0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_83_success.json
@@ -0,0 +1,1017 @@
+{
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+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
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+          "target": "beaker_a",
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+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_revolute_z_joint",
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+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
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+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03814420133434495,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32455638653165086,
+              -0.008786034356102564,
+              1.045760060650971
+            ],
+            "held_grasp_finger_b": [
+              0.3150095441013219,
+              0.01467286272885389,
+              1.045760060650971
+            ],
+            "held_grasp_midpoint": [
+              0.3197829653164864,
+              0.0029434141863756633,
+              1.045760060650971
+            ],
+            "held_grasp_object_position": [
+              0.32455638653165086,
+              0.01467286272885389,
+              1.045760060650971
+            ],
+            "held_grasp_finger_gap": 0.02532710115335167,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023729514687118067,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.030241266671767374,
+              -0.9992288211341824,
+              0.02504453642771598
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00513425835691632,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03814420133434495,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2699623655149124,
+              -0.11833417506987856,
+              0.7611175736780066
+            ],
+            "target_position": [
+              0.2938351269323999,
+              -0.14053429546158355,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.032599909249911664,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20169312254795435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611175736780066,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08585854988894527,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695104216407025,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1792980225843068,
+            "release_required_pad_clearance": 0.05347552108203513,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.955961461799516,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 188,
+            "max_placed_release_frames": 188
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9137f8a136179c9aafe664990ad3e8d10bd358f75d126ed1668922bc932e4589",
+    "visual_seed": 6603367882316290107,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f69a016acd0acdac0f754cd8d061769fbe955f5f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_85_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3144494103322325,
+              -0.13679466636113338,
+              1.0012904245891625
+            ],
+            "current_z": 1.0012904245891625,
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+            "lift_margin": 0.14018391657439644,
+            "gripper_z": 1.0028371194997112,
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+            "gripper_position": [
+              0.3106173680321012,
+              -0.1408595781491968,
+              1.0028371194997112
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+              0.0040649117880634245,
+              -0.0015466949105487071
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+            "object_to_gripper_z": -0.0015466949105487071,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3144494103322325,
+              -0.16061398005903196,
+              1.0012904245891625
+            ],
+            "finger_b": [
+              0.30421993092551475,
+              -0.13679466636113338,
+              1.0012904245891625
+            ],
+            "finger_midpoint": [
+              0.30933467062887365,
+              -0.14870432321008267,
+              1.0012904245891625
+            ],
+            "object_minus_finger_midpoint": [
+              0.00511473970335885,
+              0.01190965684894929,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_min_top_clearance": 0.015063418764222158,
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+            "object_to_finger_line_xy": 0.00939934322523079,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049189734840854246,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.799883271994012,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567319688910458,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591948173677698,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18760873516574608,
+            "release_required_pad_clearance": 0.05295974086838849,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.955307556302707,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "198a86fc57e05d1cdba0f0bb13c07c01cbf1f2f90c8083e4a606349ea0a26018",
+    "visual_seed": 943623381955502186,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a9ba019b91e33e33fe1bb6ce10793e6971c83d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_86_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              -0.13490347222322782,
+              1.003273185519125
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+            "lift_margin": 0.14216679671364862,
+            "gripper_z": 1.0041120592685986,
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+            "gripper_position": [
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+              -0.13886652663496152,
+              1.0041120592685986
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+              0.003963054411733696,
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+            ],
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+            "object_to_gripper_z": -0.0008388737494735565,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3142185831650511,
+              -0.15850646892324846,
+              1.003273185519125
+            ],
+            "finger_b": [
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+              -0.13490347222322782,
+              1.003273185519125
+            ],
+            "finger_midpoint": [
+              0.30913086061700823,
+              -0.14670497057323814,
+              1.003273185519125
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01180149835001032,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_min_top_clearance": 0.015060491381775575,
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+            "object_to_finger_line_xy": 0.009344105963645766,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882196491861972,
+            "require_object_upright": true,
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+            "object_tilt_deg": 1.9289291396054302,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.31635279572073854,
+              0.044859356104068535,
+              0.7701463301919668
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+            "gripper_position": [
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+              0.01279638598567033,
+              1.0483965971335134
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+              0.0038679193677759113,
+              -0.0009570837606169835
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.39747253767477,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 1.9435813725625704,
+            "max_source_tilt_deg": 89.84532885993741,
+            "source_upright_tilt_deg": 1.857571663394095,
+            "max_source_upright_tilt_deg": 89.81912605258536,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9435813725625704,
+            "source_upright_return_tilt_deg": 1.857571663394095,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.514431838712321e-08,
+            "max_target_xy_drift": 1.316562074949763e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0449,
+                0.7701
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+              "controller_target_position": [
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+                0.0449,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "source_size": [
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3164,
+              0.0449,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0016,
+              0.0013,
+              0.0011
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3179,
+              0.0209,
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0015863569142470133,
+                0.0012645707598365158,
+                0.0010506782686940295
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.8575742827872568,
+            "pour_controller_source_return_step_error_deg": 1.9435778103507861,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.930947212770887,
+            "pour_controller_source_return_best_wrist_position": -1.6142590045928955,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6142590045928955,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03231001492974459,
+            "valid_pour_held_xy_dist": 0.029218302012446597,
+            "valid_pour_held_gripper_dist": 0.005421834798224727,
+            "valid_pour_required_height": 0.8001463301919668,
+            "valid_pour_held_z": 1.0474395133728964,
+            "valid_pour_source_tilt_deg": 1.9435813725625704,
+            "valid_pour_source_upright_tilt_deg": 1.857571663394095,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.514431838712321e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3240175387471142,
+              -0.006858936540906028,
+              1.0474395133728964
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3142628140639467,
+              0.016664305353446242,
+              1.0474395133728964
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31914017640553044,
+              0.004902684406270107,
+              1.0474395133728964
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3240175387471142,
+              0.016664305353446242,
+              1.0474395133728964
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02546561530504628,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023674234266911082,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01674612187551213,
+              -0.9994745011804455,
+              0.02775407883952219
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00508405748855078,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03804648674504591,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3240175387471142,
+              -0.006858936540906028,
+              1.0474395133728964
+            ],
+            "held_grasp_finger_b": [
+              0.3142628140639467,
+              0.016664305353446242,
+              1.0474395133728964
+            ],
+            "held_grasp_midpoint": [
+              0.31914017640553044,
+              0.004902684406270107,
+              1.0474395133728964
+            ],
+            "held_grasp_object_position": [
+              0.3240175387471142,
+              0.016664305353446242,
+              1.0474395133728964
+            ],
+            "held_grasp_finger_gap": 0.02546561530504628,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023674234266911082,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01674612187551213,
+              -0.9994745011804455,
+              0.02775407883952219
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00508405748855078,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03804648674504591,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29095922754112025,
+              -0.14079588786256528,
+              0.7611064358582604
+            ],
+            "target_position": [
+              0.291770763798955,
+              -0.13961644792037614,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0014316667471906833,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2155218735105225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064358582604,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586015713483234,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521447340121817,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18559711499837472,
+            "release_required_pad_clearance": 0.052607236700609086,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.27695281040822345,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8bd748eb05db022b7c67ef818f4b6de5c0ae47e884997b885be9b4464ac816a",
+    "visual_seed": 4607239289259686472,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..309efe5cf00e990fe3510ad9fe5a40c5b79bbe9a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_87_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3123899648191193,
+              -0.13566317702837427,
+              1.0038263998223735
+            ],
+            "current_z": 1.0038263998223735,
+            "required_z": 0.8611064484101212,
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+              0.32525947903097774,
+              0.016602578326307578,
+              1.0475131425452553
+            ],
+            "held_grasp_finger_gap": 0.02546913690691904,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023881988812186672,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04349520038109841,
+              -0.9987316153485466,
+              0.025363912298596695
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.005444321331280926,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03820814344543223,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2685788364470501,
+              -0.12406463879987661,
+              0.7611064334875421
+            ],
+            "target_position": [
+              0.2900915298318862,
+              -0.14029056641936322,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0269458105052119,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2025844362078786,
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+            "gripper_away_ok": true,
+            "object_z": 0.7611064334875421,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08182099321901606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08656509742833006,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17874340614113252,
+            "release_required_pad_clearance": 0.05328254871416503,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5840828630608703,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7beac036cf6183556795b05b8f8f37c1cc1a0af9268ceab508479ded9cdfb5b0",
+    "visual_seed": 7560177855715370540,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3af9b444ad2ef1c862c8fbcce6f5c03c81c71b6b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_88_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+              -0.13650473493463158,
+              1.0039408897949045
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+              -0.14064130685189374,
+              1.0054137775759715
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+              -0.16036565953244267,
+              1.0039408897949045
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+              -0.13650473493463158,
+              1.0039408897949045
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+              -0.14843519723353713,
+              1.0039408897949045
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+              0.011930462298905542,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.32199824965063983,
+              0.047663829146556626,
+              0.7701464494012564
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+            "gripper_position": [
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+              0.016261763098157703,
+              1.049446513337839
+            ],
+            "target_minus_gripper": [
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+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8015084f8fa9b5c71e49d996e5ef5c02b85d758fe828a060c4f75e4ef8374e62",
+    "visual_seed": 4958942406060912576,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62f13bea8abae4ea3ca311a18e9842d88979c1c4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_89_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              1.0048016475022887
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+            "lift_margin": 0.14369519909216755,
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+            "gripper_position": [
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+              -0.13546012449083153,
+              1.0058421903083397
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+              0.003935003482040761,
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+              1.0048016475022887
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+              -0.14325865123837872,
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+              0.011733530229587952,
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+              1.0
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+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+          }
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04386533316843964,
+              0.770146330191967
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+              0.010599509966764453,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.0439,
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+              "controller_target_position": [
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+              "pour_pose_offset": [
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+              "wrist_joint_name": "wrist_3_joint",
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+                "approach_height_range_m": [
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.3,
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                -0.001174789887944792,
+                -0.0008925167747751287
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.898707698087187,
+            "pour_controller_source_return_step_error_deg": 2.258828109097262,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.2486993622516005,
+            "pour_controller_source_return_best_wrist_position": -1.6150381565093994,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6150381565093994,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03331799188467824,
+            "valid_pour_held_xy_dist": 0.02999105898237393,
+            "valid_pour_held_gripper_dist": 0.005375356885613804,
+            "valid_pour_required_height": 0.800146330191967,
+            "valid_pour_held_z": 1.0457018304405712,
+            "valid_pour_source_tilt_deg": 2.258842334106428,
+            "valid_pour_source_upright_tilt_deg": 1.898706806813247,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.1175870895385742e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3258801977557142,
+              -0.009245189691944032,
+              1.0457018304405712
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3164039867317875,
+              0.014382682864249914,
+              1.0457018304405712
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32114209224375084,
+              0.0025687465861529406,
+              1.0457018304405712
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3258801977557142,
+              0.014382682864249914,
+              1.0457018304405712
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02545731597992477,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02379070282115571,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01855199763402152,
+              -0.9994509713262266,
+              0.027451398850504183
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004966982076155293,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038000701304012584,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3258801977557142,
+              -0.009245189691944032,
+              1.0457018304405712
+            ],
+            "held_grasp_finger_b": [
+              0.3164039867317875,
+              0.014382682864249914,
+              1.0457018304405712
+            ],
+            "held_grasp_midpoint": [
+              0.32114209224375084,
+              0.0025687465861529406,
+              1.0457018304405712
+            ],
+            "held_grasp_object_position": [
+              0.3258801977557142,
+              0.014382682864249914,
+              1.0457018304405712
+            ],
+            "held_grasp_finger_gap": 0.02545731597992477,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02379070282115571,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01855199763402152,
+              -0.9994509713262266,
+              0.027451398850504183
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004966982076155293,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038000701304012584,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.28606338055707936,
+              -0.13534738367339488,
+              0.7611070649029444
+            ],
+            "target_position": [
+              0.28715496082545505,
+              -0.13493998125482343,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0011651284105046184,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21662245745420658,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611070649029444,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755294649633797,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534124809552211,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18755728834162394,
+            "release_required_pad_clearance": 0.05267062404776106,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.39761995524967747,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11e0e9dcdd0b377930e2d01a46f7d95fc9923f009e22fb6df9a9afcbcb7c8b54",
+    "visual_seed": 6174828593503328828,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85f2ab8e78d6cfd8194b1d8dbe70e9d1b91f40ee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_90_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31896561098697607,
+              -0.13248341989874704,
+              1.0042606192336805
+            ],
+            "current_z": 1.0042606192336805,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14315411121891453,
+            "gripper_z": 1.0053611257117425,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31534997134972115,
+              -0.1365003192424888,
+              1.0053611257117425
+            ],
+            "object_minus_gripper": [
+              0.0036156396372549193,
+              0.004016899343741748,
+              -0.0011005064780620355
+            ],
+            "object_to_gripper_xy": 0.005404473177308013,
+            "object_to_gripper_z": -0.0011005064780620355,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31896561098697607,
+              -0.15595083176508026,
+              1.0042606192336805
+            ],
+            "finger_b": [
+              0.3085323110142911,
+              -0.13248341989874704,
+              1.0042606192336805
+            ],
+            "finger_midpoint": [
+              0.3137489610006336,
+              -0.14421712583191365,
+              1.0042606192336805
+            ],
+            "object_minus_finger_midpoint": [
+              0.00521664998634247,
+              0.01173370593316661,
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+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2980131841709032,
+              -0.13497614123169174,
+              0.7611065259155432
+            ],
+            "target_position": [
+              0.29660538276835796,
+              -0.13542923778817553,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.0014789189560303405,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2188583071638144,
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+            "gripper_away_ok": true,
+            "object_z": 0.7611065259155432,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754876043773084,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08647183181002514,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18973029111545386,
+            "release_required_pad_clearance": 0.053235915905012574,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4924960479146483,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4532b83b483936d3e12365440f70d301fe24647bf12aca4ae722640bb74cb502",
+    "visual_seed": 6637463068711410886,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..375048b1ec68ed171fcd0d3b11c0201d65dcda7e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_91_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              1.0
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+            "stable_success_frames": 165,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+                  "b": "/World/beaker_2/mesh"
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "target_position": [
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+              0.7701463897966118
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+              0.0040056870350233115,
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+            "held_gripper_dist": 0.005691305636259423,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001463897966118,
+            "gripper_z": 1.0468604863800395,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
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+                "joint1",
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a56d9f6928589ddab21850c6c28ebe9640dd079aaf9e21d3994c5527a0dc27c0",
+    "visual_seed": 1393901380162504259,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8821fc67ab36cb193763999d164c71ea54379824
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_92_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              -0.13532877745126723,
+              1.0027487905258623
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+            "lift_margin": 0.14164228251109634,
+            "gripper_z": 1.004246540238144,
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+            "gripper_position": [
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+              -0.13937321670842331,
+              1.004246540238144
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+              0.004044439257156085,
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+            "object_to_gripper_z": -0.0014977497122816708,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.15914388701450063,
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+              -0.13532877745126723,
+              1.0027487905258623
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+            "finger_midpoint": [
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+              -0.14723633223288393,
+              1.0027487905258623
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+              0.011907554781616703,
+              0.0
+            ],
+            "finger_gap": 0.025874922247705913,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0493114174026716,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.317892085672063,
+              0.04986653742068268,
+              0.7701463897966114
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+            "gripper_position": [
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+              0.017777662714005563,
+              1.0489795036684313
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+              0.021755587014400307,
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+            "held_minus_target": [
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+              0.2772046781633508
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+              0.0039779243003947445,
+              -0.0016284357084690448
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+            "wrist_idx": 5,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.94401043779632,
+            "source_upright_tilt_deg": 3.40386827314513,
+            "max_source_upright_tilt_deg": 89.94601747881418,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.514431838712321e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0499,
+                0.7701
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+              "controller_target_position": [
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+                0.0499,
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+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_feedback_error": null,
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+              ],
+              "pour_height_range_m": [
+                0.2,
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+                -3.299109779642331e-05,
+                0.001366522765624838
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.403868768386504,
+            "pour_controller_source_return_step_error_deg": 1.789044474838844,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.399725200666376,
+            "pour_controller_source_return_best_wrist_position": -1.6164703369140625,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6164703369140625,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03215818870326953,
+            "valid_pour_held_xy_dist": 0.028715284226016016,
+            "valid_pour_held_gripper_dist": 0.005704186058159551,
+            "valid_pour_required_height": 0.8001463897966115,
+            "valid_pour_held_z": 1.0473510679599622,
+            "valid_pour_source_tilt_deg": 1.7890515488357235,
+            "valid_pour_source_upright_tilt_deg": 3.40386827314513,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.514431838712321e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3237522917636964,
+              -0.001676045207151821,
+              1.0473510679599622
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31368140495271374,
+              0.021755587014400307,
+              1.0473510679599622
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3187168483582051,
+              0.010039770903624243,
+              1.0473510679599622
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3237522917636964,
+              0.021755587014400307,
+              1.0473510679599622
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02550419866856641,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02392815891186138,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05340781971117153,
+              -0.9982358285401345,
+              0.02593907115704497
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005661946682397902,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03829403472129695,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3237522917636964,
+              -0.001676045207151821,
+              1.0473510679599622
+            ],
+            "held_grasp_finger_b": [
+              0.31368140495271374,
+              0.021755587014400307,
+              1.0473510679599622
+            ],
+            "held_grasp_midpoint": [
+              0.3187168483582051,
+              0.010039770903624243,
+              1.0473510679599622
+            ],
+            "held_grasp_object_position": [
+              0.3237522917636964,
+              0.021755587014400307,
+              1.0473510679599622
+            ],
+            "held_grasp_finger_gap": 0.02550419866856641,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02392815891186138,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05340781971117153,
+              -0.9982358285401345,
+              0.02593907115704497
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005661946682397902,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03829403472129695,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2958367692582128,
+              -0.1441405647466868,
+              0.7611080412697956
+            ],
+            "target_position": [
+              0.28927111293230445,
+              -0.140164456553846,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007675759203565199,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22037343306528961,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611080412697956,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541085264485933,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08945983491399288,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1901378980759698,
+            "release_required_pad_clearance": 0.054729917456996444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.508060735937028,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7189f81e6276c39c901ab68abaa285126b9b3d31fcc1809da234bfdffa601165",
+    "visual_seed": 7556360021319475821,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bf2f333a0e5c142a5dba55045a90a6423058300
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_93_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3148891790949776,
+              -0.13929025733509112,
+              1.004903717918734
+            ],
+            "current_z": 1.004903717918734,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14379720990396805,
+            "gripper_z": 1.0058382262539716,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3114772507641308,
+              -0.143248196453237,
+              1.0058382262539716
+            ],
+            "object_minus_gripper": [
+              0.003411928330846803,
+              0.003957939118145876,
+              -0.0009345083352376715
+            ],
+            "object_to_gripper_xy": 0.0052255657107900194,
+            "object_to_gripper_z": -0.0009345083352376715,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3148891790949776,
+              -0.16261171479342004,
+              1.004903717918734
+            ],
+            "finger_b": [
+              0.30457535798298097,
+              -0.13929025733509112,
+              1.004903717918734
+            ],
+            "finger_midpoint": [
+              0.3097322685389793,
+              -0.15095098606425558,
+              1.004903717918734
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051569105559983175,
+              0.01166072872916446,
+              0.0
+            ],
+            "finger_gap": 0.025500299682766733,
+            "fingertip_max_gap": 0.09357476682273344,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012750149841383366,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.004903717918734,
+            "object_top_z": 1.055223313354092,
+            "finger_top_clearance": 0.05031959543535813,
+            "fingertip_min_top_clearance": 0.01509587863060744,
+            "object_projection_between_fingers": 0.8364130631570961,
+            "object_to_finger_line_xy": 0.009432569157561648,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04928738341136672,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.014279882562892,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2950927719103091,
+              -0.1401423647320608,
+              0.7611063068354998
+            ],
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+              0.29287062756914567,
+              -0.14105468463224488,
+              0.7774145980897915
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+            "xy_dist": 0.002402135107198694,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21649416920500045,
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+            "gripper_away_ok": true,
+            "object_z": 0.7611063068354998,
+            "min_z": 0.5774145980897916,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557159066250665,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853980967592393,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18717272052829376,
+            "release_required_pad_clearance": 0.052699048379619653,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.45283877231461755,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7643d1747969cbc67af6b3b741b46e9b3f309959860cd4b30051d056f9427513",
+    "visual_seed": 608078913180655884,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..80b649a5f0ff729aee573d7766dbcc2cd5b8dc99
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_94_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+      "target": "beaker_a",
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+          "skill": "pick",
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+            ],
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+            },
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+          }
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.91675017636756,
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+            "max_source_upright_tilt_deg": 89.82304005227884,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.114695605599111,
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "39752c5b0075c374282e6ead58a98055bb054a0f0f9af948e09923f74f804433",
+    "visual_seed": 5397957223921916167,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0334264747bce915587bb094dd43c236622ba852
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_95_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.0010098921687947
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+              1.0022755360297333
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+              0.004039912596186718,
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+              1.0010098921687947
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+              -0.144405026577742,
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+              0.0
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+            "stable_success_frames": 164,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "target_position": [
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+              0.7701463897966115
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+              0.015781633977549017,
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+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+                0.0493,
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+                0.0493,
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+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_axis_frame": "end_effector",
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+              "approach_height_range_m": [
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+              "pour_pose_offset_m": [
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_wrist_compensated_return_position": -1.6159220933914185,
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_gripper_dist": 0.005680320504812556,
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+            "valid_pour_held_z": 1.0460596952927195,
+            "valid_pour_source_tilt_deg": 1.7885617418022335,
+            "valid_pour_source_upright_tilt_deg": 2.999716109926115,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.4901161193847656e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.327134624046073,
+              -0.0038029055561110818,
+              1.0460596952927195
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3170832148270079,
+              0.01973961123073519,
+              1.0460596952927195
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32210891943654046,
+              0.007968352837312053,
+              1.0460596952927195
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.327134624046073,
+              0.01973961123073519,
+              1.0460596952927195
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02559845549926881,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02395326252083126,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04407378546042406,
+              -0.9986298015712135,
+              0.028213841444003622
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055493842191645815,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03818662246317543,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.327134624046073,
+              -0.0038029055561110818,
+              1.0460596952927195
+            ],
+            "held_grasp_finger_b": [
+              0.3170832148270079,
+              0.01973961123073519,
+              1.0460596952927195
+            ],
+            "held_grasp_midpoint": [
+              0.32210891943654046,
+              0.007968352837312053,
+              1.0460596952927195
+            ],
+            "held_grasp_object_position": [
+              0.327134624046073,
+              0.01973961123073519,
+              1.0460596952927195
+            ],
+            "held_grasp_finger_gap": 0.02559845549926881,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02395326252083126,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04407378546042406,
+              -0.9986298015712135,
+              0.028213841444003622
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0055493842191645815,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03818662246317543,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29118997264480057,
+              -0.13380156504677515,
+              0.7611067054297317
+            ],
+            "target_position": [
+              0.28927290996398086,
+              -0.13422212957377122,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0019626522472305317,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2165398365430909,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611067054297317,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561981354072224,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511427954762545,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18703387444226655,
+            "release_required_pad_clearance": 0.052557139773812725,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18130813017519942,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e4b0ad0af59235be03d0c4161d1b1719a9df32c358940706a8e1950d0ab408a",
+    "visual_seed": 1825821041731998205,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9bf78850e95fd333ccbb96633a57e22e5e05bcf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_96_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3146437566672993,
+              -0.13494456988242046,
+              1.0011736043496136
+            ],
+            "current_z": 1.0011736043496136,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14006709633484737,
+            "gripper_z": 1.002098382148006,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31116783476783005,
+              -0.13891331410934993,
+              1.002098382148006
+            ],
+            "object_minus_gripper": [
+              0.0034759218994692698,
+              0.0039687442269294715,
+              -0.0009247777983925065
+            ],
+            "object_to_gripper_xy": 0.005275695574044816,
+            "object_to_gripper_z": -0.0009247777983925065,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3146437566672993,
+              -0.1582329154141358,
+              1.0011736043496136
+            ],
+            "finger_b": [
+              0.304200712000815,
+              -0.13494456988242046,
+              1.0011736043496136
+            ],
+            "finger_midpoint": [
+              0.30942223433405713,
+              -0.14658874264827815,
+              1.0011736043496136
+            ],
+            "object_minus_finger_midpoint": [
+              0.00522152233324219,
+              0.011644172765857691,
+              0.0
+            ],
+            "finger_gap": 0.02552262172095087,
+            "fingertip_max_gap": 0.09353255567715787,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01276131086047546,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0011736043496136,
+            "object_top_z": 1.0512303881485336,
+            "finger_top_clearance": 0.05005678379892009,
+            "fingertip_min_top_clearance": 0.01501703513967601,
+            "object_projection_between_fingers": 0.8325814008572193,
+            "object_to_finger_line_xy": 0.009528849945559704,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926627783857894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.105925481989452,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
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+                "fr3_leftfinger",
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+                "ridgebase_rizon4",
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+                "ridgebase_ur5e",
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+                "rizon4",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2929748022328038,
+              -0.1370027334036465,
+              0.7611064866555822
+            ],
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+              0.2925699717728538,
+              -0.13909323169181684,
+              0.7774145980897915
+            ],
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+            "gripper_away_ok": true,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08526341187871044,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18774052773493102,
+            "release_required_pad_clearance": 0.05263170593935522,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3238509807225817,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7cc83eec25d3e8a3b43501bccfe839b9d9ce1541029a0b868be823b479259b1d",
+    "visual_seed": 1713462869186333686,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a03f0e86ecce76ea29624ef9a31c65105fc69edf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_98_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "missing_active_wrist_index": false,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_tilt_deg": 2.1070787369318893,
+            "max_source_upright_tilt_deg": 89.88260189927009,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.207991330682755,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.7706993203109864e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
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+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75dca239a3fb9528289272709c3f6098f04676b5fcadc3377d0a966c89738bb1",
+    "visual_seed": 3673808438808666278,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbd9718583587ae579327fde5387afeedea13647
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_99_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.004004287428209963,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+          }
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+              0.010869636408470967,
+              1.0506240025328193
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_grasp_finger_b": [
+              0.3198906466204381,
+              0.014832764385505948,
+              1.0496020637215542
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.32487553176299483,
+              0.0031214027570553096,
+              1.0496020637215542
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32986041690555157,
+              0.014832764385505948,
+              1.0496020637215542
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025456242541021558,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02385647608086789,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04768209650505197,
+              -0.998222805928892,
+              0.03574419388281936
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005553116552801166,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.0382673915785291,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32986041690555157,
+              -0.008589958871395329,
+              1.0496020637215542
+            ],
+            "held_grasp_finger_b": [
+              0.3198906466204381,
+              0.014832764385505948,
+              1.0496020637215542
+            ],
+            "held_grasp_midpoint": [
+              0.32487553176299483,
+              0.0031214027570553096,
+              1.0496020637215542
+            ],
+            "held_grasp_object_position": [
+              0.32986041690555157,
+              0.014832764385505948,
+              1.0496020637215542
+            ],
+            "held_grasp_finger_gap": 0.025456242541021558,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02385647608086789,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04768209650505197,
+              -0.998222805928892,
+              0.03574419388281936
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005553116552801166,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0382673915785291,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.29424353703188255,
+              -0.1414117360604016,
+              0.7611063295290679
+            ],
+            "target_position": [
+              0.2926264440054935,
+              -0.14024118434138239,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0019962918581447526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21790062796724965,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063295290679,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754015330345312,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521427097659821,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18862880351715822,
+            "release_required_pad_clearance": 0.05260713548829911,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.27695284026532185,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 930985434780052157,
+    "physical_seed": 5460116499884012623,
+    "layout_id": "layout_00001",
+    "step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "workflow_spec_digest": "b000f2def333cb9bc0c854891be3de09d58dcf62146da3d434e770e107be0846",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a3f4cf661c2ac836181b2c84fa97d32a133a1a0d6754dcd9de99c59e5dd59b0",
+    "visual_seed": 6235599585609359259,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4454205068413497318,
+      4415600845410333999,
+      4823626241943975924
+    ],
+    "runtime_workflow_digest": "29ce4ed4b371ea35661da31bdd3010175cc0ce666837a49cbaaad46851397411"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd7b86308ddb17ad39d4bbf18e5065ceb75da0ee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00001/results/episode_9_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31002739673050517,
+              -0.13946577618850375,
+              1.0050343331097888
+            ],
+            "current_z": 1.0050343331097888,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14392788469966766,
+            "gripper_z": 1.00540723001561,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30674423340255574,
+              -0.1432044807258281,
+              1.00540723001561
+            ],
+            "object_minus_gripper": [
+              0.0032831633279494232,
+              0.0037387045373243333,
+              -0.00037289690582120727
+            ],
+            "object_to_gripper_xy": 0.004975648003567122,
+            "object_to_gripper_z": -0.00037289690582120727,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31002739673050517,
+              -0.16299215823071075,
+              1.0050343331097888
+            ],
+            "finger_b": [
+              0.3003692630155408,
+              -0.13946577618850375,
+              1.0050343331097888
+            ],
+            "finger_midpoint": [
+              0.305198329873023,
+              -0.15122896720960727,
+              1.0050343331097888
+            ],
+            "object_minus_finger_midpoint": [
+              0.004829066857482189,
+              0.011763191021103514,
+              0.0
+            ],
+            "finger_gap": 0.02543167707509695,
+            "fingertip_max_gap": 0.09390341571980884,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012715838537548487,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0050343331097888,
+            "object_top_z": 1.0554387509866086,
+            "finger_top_clearance": 0.05040441787681971,
+            "fingertip_min_top_clearance": 0.015121325363045878,
+            "object_projection_between_fingers": 0.8557763684509604,
+            "object_to_finger_line_xy": 0.008934563887470486,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04945170785990442,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5081236759909795,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0070b4bd3246bde225d32e61c785e0aeb466dbbe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0d11eeb8f8d389af87ad05a74836ea5240e38308
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/resolved_config.yaml
@@ -0,0 +1,254 @@
+name: fast_3beaker_preloaded_mix_s03_pol_lou_00002
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into the preloaded
+    beaker c and return it upright. Place beaker a at home.
+  layout_id: layout_00002
+  reproducibility:
+    enabled: true
+    layout_id: layout_00002
+    action_seed: 575825182625704749
+    step_seeds:
+    - 5345309411159085880
+    - 5445981180960300046
+    - 9151210094967360062
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3256
+      - 0.3256
+      'y':
+      - 0.2138
+      - 0.2138
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2541
+      - 0.2541
+      'y':
+      - -0.061
+      - -0.061
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_c
+    path: /World/beaker_3
+    position_range:
+      x:
+      - 0.2639
+      - 0.2639
+      'y':
+      - 0.0509
+      - 0.0509
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.0993
+      - 0.0993
+      'y':
+      - 0.4123
+      - 0.4123
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.1819
+      - 0.1819
+      'y':
+      - -0.4178
+      - -0.4178
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_c
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a760ef68588dc9ccd84a3581a31aba5fce4641a1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_0_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3539085605460971,
+              0.2195873180776242,
+              1.003726179508185
+            ],
+            "current_z": 1.003726179508185,
+            "required_z": 0.8611066557387295,
+            "initial_z": 0.7611066557387295,
+            "lift_margin": 0.14261952376945564,
+            "gripper_z": 1.0027534055966827,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3486384125835452,
+              0.21457771468237374,
+              1.0027534055966827
+            ],
+            "object_minus_gripper": [
+              0.005270147962551874,
+              0.005009603395250445,
+              0.0009727739115024114
+            ],
+            "object_to_gripper_xy": 0.00727121624798042,
+            "object_to_gripper_z": 0.0009727739115024114,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3539085605460971,
+              0.19507638752940998,
+              1.003726179508185
+            ],
+            "finger_b": [
+              0.3417470495470265,
+              0.2195873180776242,
+              1.003726179508185
+            ],
+            "finger_midpoint": [
+              0.3478278050465618,
+              0.20733185280351707,
+              1.003726179508185
+            ],
+            "object_minus_finger_midpoint": [
+              0.006080755499535295,
+              0.012255465274107119,
+              0.0
+            ],
+            "finger_gap": 0.027362164865373784,
+            "fingertip_max_gap": 0.09126426474594981,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013681082432686904,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.003726179508185,
+            "object_top_z": 1.0536940287871845,
+            "finger_top_clearance": 0.04996784927899944,
+            "fingertip_min_top_clearance": 0.014990354783699849,
+            "object_projection_between_fingers": 0.8024513058595624,
+            "object_to_finger_line_xy": 0.01089423855627701,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813213237297491,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7332713100315824,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 177,
+            "max_stable_success_frames": 177,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.28496349456052505,
+              0.05302317442440094,
+              0.7701463886000479
+            ],
+            "gripper_position": [
+              0.2918733223956045,
+              0.041434394959946344,
+              1.0317191035133373
+            ],
+            "target_minus_gripper": [
+              -0.0069098278350794295,
+              0.011588779464454593,
+              -0.2615727149132894
+            ],
+            "held_position": [
+              0.2972733644169253,
+              0.04631571592091596,
+              1.0326476952218808
+            ],
+            "held_minus_target": [
+              0.012309869856400257,
+              -0.006707458503484975,
+              0.2625013066218329
+            ],
+            "held_minus_gripper": [
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+              0.004881320960969618,
+              0.0009285917085435358
+            ],
+            "xy_dist": 0.01349242491867948,
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+            "held_gripper_dist": 0.007338258016532799,
+            "max_held_gripper_dist": 0.007352773839180848,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463886000479,
+            "held_z": 1.0326476952218808,
+            "required_height": 0.8001463886000479,
+            "gripper_z": 1.0317191035133373,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.26119660335468,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.1291468713376059,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8836035950389194,
+            "max_source_tilt_deg": 89.93287460371742,
+            "source_upright_tilt_deg": 1.9183380948479096,
+            "max_source_upright_tilt_deg": 89.88097692498219,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8836035950389194,
+            "source_upright_return_tilt_deg": 1.9183380948479096,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.0988181326840925e-08,
+            "max_target_xy_drift": 9.920239441126076e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.03956467928611945,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 8.144481502960801e-06,
+            "max_target_tilt_deg": 0.00011457438748500046,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.285,
+                0.053,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.285,
+                0.053,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0003,
+                0.001,
+                0.0004
+              ],
+              "controller_last_pour_pose_position": [
+                0.2852,
+                0.0288,
+                1.0357
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
+                0.0904
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  0.0002810117577945058,
+                  0.0009803302217301778,
+                  0.00039052069683972925
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.9183419509590036,
+              "source_return_step_error_deg": 1.8836077367375588,
+              "source_return_stable_frames": 5,
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+              "wrist_compensated_return_position": -1.6095924377441406
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+            "pour_controller_workflow_step_index": 1,
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+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              0.001,
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+              0.0288,
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+            "pour_controller_controller_t": 0.0,
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+              0.0603,
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0002810117577945058,
+                0.0009803302217301778,
+                0.00039052069683972925
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.9183419509590036,
+            "pour_controller_source_return_step_error_deg": 1.8836077367375588,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9077536063892995,
+            "pour_controller_source_return_best_wrist_position": -1.6095924377441406,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6095924377441406,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01349242491867948,
+            "valid_pour_held_xy_dist": 0.014018662399012418,
+            "valid_pour_held_gripper_dist": 0.007338258016532799,
+            "valid_pour_required_height": 0.8001463886000479,
+            "valid_pour_held_z": 1.0326476952218808,
+            "valid_pour_source_tilt_deg": 1.8836035950389194,
+            "valid_pour_source_upright_tilt_deg": 1.9183380948479096,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.0988181326840925e-08,
+            "valid_pour_target_tilt_deg": 8.144481502960801e-06,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2972733644169253,
+              0.02175375894753507,
+              1.0326476952218808
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28592973703745084,
+              0.04631571592091596,
+              1.0326476952218808
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2916015507271881,
+              0.03403473743422551,
+              1.0326476952218808
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2972733644169253,
+              0.04631571592091596,
+              1.0326476952218808
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027054899971845715,
+            "valid_pour_held_grasp_max_gap": 0.12496569514274597,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024369361726571462,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.015764777998216246,
+              -0.9994395609644441,
+              0.02953025150360533
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005489581769884574,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047482847571372985,
+            "valid_pour_held_grasp_object_top_z": 0.04972060024738312,
+            "valid_pour_held_grasp_top_clearance": 0.03735708961676548,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916180074214934,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2972733644169253,
+              0.02175375894753507,
+              1.0326476952218808
+            ],
+            "held_grasp_finger_b": [
+              0.28592973703745084,
+              0.04631571592091596,
+              1.0326476952218808
+            ],
+            "held_grasp_midpoint": [
+              0.2916015507271881,
+              0.03403473743422551,
+              1.0326476952218808
+            ],
+            "held_grasp_object_position": [
+              0.2972733644169253,
+              0.04631571592091596,
+              1.0326476952218808
+            ],
+            "held_grasp_finger_gap": 0.027054899971845715,
+            "held_grasp_max_gap": 0.12496569514274597,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024369361726571462,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.015764777998216246,
+              -0.9994395609644441,
+              0.02953025150360533
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005489581769884574,
+            "held_grasp_line_xy_max_dist": 0.047482847571372985,
+            "held_grasp_object_top_z": 0.04972060024738312,
+            "held_grasp_top_clearance": 0.03735708961676548,
+            "held_grasp_min_top_clearance": 0.014916180074214934,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32312866360337844,
+              0.21373915013742553,
+              0.7611089684681077
+            ],
+            "target_position": [
+              0.32949437881519156,
+              0.21614126672719974,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0068038587778390435,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21314840467419668,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611089684681077,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556550909566512,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611824343165207,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18334855779749912,
+            "release_required_pad_clearance": 0.05305912171582604,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1391499150122013,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7df7697fd41f53c008518931d7496c4e594e8f059df498e495b210d41982602f",
+    "visual_seed": 3044051995911240653,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23faefad84e8318377da483bcdcf70ec58ccffcb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_100_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3506757395451079,
+              0.21154266877766012,
+              1.005366634346474
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+              0.03155098806597882,
+              1.0303678914671015
+            ],
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+              0.2950963415467185,
+              0.04357567383051181,
+              1.0303678914671015
+            ],
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024491682191376714,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04126006194172325,
+              -0.9987386638253618,
+              0.02861273613089476
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.0062282183711478995,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03794705397900437,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.33074689582855843,
+              0.21512470673959785,
+              0.7611065033438209
+            ],
+            "target_position": [
+              0.32663353925309585,
+              0.2102262219557919,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006396472113132333,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2182509059030676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065033438209,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075248234491553,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867323409396815,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18970710379294015,
+            "release_required_pad_clearance": 0.053366170469840754,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7484894349589593,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fdf1272b919719dbc1a42aa6080188f5cfed27eefa76de23a1fe010b99a7821f",
+    "visual_seed": 8506294910398857798,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_101_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..453d20dfb1a8bd40d1d42efc9bcf19784551563b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_101_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.21130509424155525,
+              1.0042536575139307
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+              0.004564615183396292,
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+              0.18696009498009375,
+              1.0042536575139307
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+              1.0042536575139307
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+              0.1991325946108245,
+              1.0042536575139307
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+              1.0
+            ],
+            "stable_success_frames": 178,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.28551123654906196,
+              0.051246962367229226,
+              0.7701464494012563
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 203,
+            "max_placed_release_frames": 203
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "875b97ef9a842d4b9d6717744b42a536f4336b822131bc26e46f6c895eb8550a",
+    "visual_seed": 942609821874924755,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d6be7b606fe5f35476707edff734dc9e1610a85
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_10_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3520750168660676,
+              0.21349396435404006,
+              1.0038159601581595
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+            "current_z": 1.0038159601581595,
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+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.1427091541201696,
+            "gripper_z": 1.0029262890451607,
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+            "gripper_position": [
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+              0.20864662913496834,
+              1.0029262890451607
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+              0.004847335219071713,
+              0.0008896711129988688
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+            "object_to_gripper_xy": 0.007278179026405263,
+            "object_to_gripper_z": 0.0008896711129988688,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3520750168660676,
+              0.1887247491661515,
+              1.0038159601581595
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+            "finger_b": [
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+              0.21349396435404006,
+              1.0038159601581595
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+              0.20110935676009578,
+              1.0038159601581595
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+              0.012384607593944275,
+              0.0
+            ],
+            "finger_gap": 0.027411779346919855,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.01061069827653692,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048529036590716876,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 177,
+            "max_stable_success_frames": 177,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
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+            "held_gripper_threshold": 0.12,
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+            "gripper_z": 1.0289235692290766,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.94230815483824,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0695221851144616,
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+            "target_xy_drift": 6.664001874625056e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              "wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              0.0,
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0002,
+              0.0001,
+              -0.0011
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.2822,
+              0.0274,
+              1.0343
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
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+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.00012836637057519985,
+                -0.001077653059158001
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.19541176619056,
+            "pour_controller_source_return_step_error_deg": 2.06953115532954,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.187651467366326,
+            "pour_controller_source_return_best_wrist_position": -1.6103123426437378,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6103123426437378,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014221827237499703,
+            "valid_pour_held_xy_dist": 0.014221707776253398,
+            "valid_pour_held_gripper_dist": 0.007333795736380916,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.02977337041247,
+            "valid_pour_source_tilt_deg": 2.0695221851144616,
+            "valid_pour_source_upright_tilt_deg": 2.1953915016202252,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.664001874625056e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2938474697101772,
+              0.020037881322592162,
+              1.02977337041247
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.282542400893075,
+              0.04456598179788416,
+              1.02977337041247
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2881949353016261,
+              0.03230193156023816,
+              1.02977337041247
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2938474697101772,
+              0.04456598179788416,
+              1.02977337041247
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027008004255876388,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024650905715077765,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.012455351710055103,
+              -0.9992660104904677,
+              0.03622574350159379
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058217280930134545,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03753560582077956,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2938474697101772,
+              0.020037881322592162,
+              1.02977337041247
+            ],
+            "held_grasp_finger_b": [
+              0.282542400893075,
+              0.04456598179788416,
+              1.02977337041247
+            ],
+            "held_grasp_midpoint": [
+              0.2881949353016261,
+              0.03230193156023816,
+              1.02977337041247
+            ],
+            "held_grasp_object_position": [
+              0.2938474697101772,
+              0.04456598179788416,
+              1.02977337041247
+            ],
+            "held_grasp_finger_gap": 0.027008004255876388,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024650905715077765,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.012455351710055103,
+              -0.9992660104904677,
+              0.03622574350159379
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0058217280930134545,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03753560582077956,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3314012018286576,
+              0.20979670819947333,
+              0.7611075838098622
+            ],
+            "target_position": [
+              0.3276365121187961,
+              0.2093042453704442,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0037967628645351,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21864007640684116,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611075838098622,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551012860002307,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08730964412223839,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18861527143597817,
+            "release_required_pad_clearance": 0.0536548220611192,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.31347060302833,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ea8185c476c22b154867e8f74a1caed9fbe53907e45108be4e54a490a42f9f1",
+    "visual_seed": 899370757595773695,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..68dea33bb279319de6d02b267a9ac36a70b61161
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_11_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34998701805405685,
+              0.22029911367053726,
+              1.0025902925971812
+            ],
+            "current_z": 1.0025902925971812,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14148378458241517,
+            "gripper_z": 1.0020710937202832,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34488305663480545,
+              0.2154082453592594,
+              1.0020710937202832
+            ],
+            "object_minus_gripper": [
+              0.0051039614192514016,
+              0.004890868311277857,
+              0.0005191988768979972
+            ],
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.000702087653291699,
+              -0.9995928471746489,
+              0.02852449736991213
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00568258477722177,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03758999391469841,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31976029632074066,
+              0.2162615443308302,
+              0.7611081034862093
+            ],
+            "target_position": [
+              0.3258782318031782,
+              0.21771984867260655,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006289339084555083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21029403623319431,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611081034862093,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755302634934003,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08683665932076799,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18087631127350948,
+            "release_required_pad_clearance": 0.053418329660384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8477358985534413,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c3a75f56d9e0644f71a78650e7e940ddb02710d18672aacaa8318524acc2a81c",
+    "visual_seed": 3280283305744378752,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..64989a8dfcb1ee81dc72be78ad2b4c2f46ee8af8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_12_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3459879624137068,
+              0.21760193749955517,
+              1.0051605326506405
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+            "gripper_z": 1.0046656754479752,
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+            "gripper_position": [
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+              0.21277067472837294,
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+              0.004831262771182232,
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+              0.19337951096672565,
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+            "finger_b": [
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+              0.21760193749955517,
+              1.0051605326506405
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+              0.2054907242331404,
+              1.0051605326506405
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+              0.012111213266414761,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.052939115880660775,
+              0.7701464494012563
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+              0.0411187928417526,
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+            "held_position": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76ef01fbe029d7c8ac0dae3db4dc1c103237fd964766750f2055f306e883e6bb",
+    "visual_seed": 3104653630470838963,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_13_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e5b8aaa0cae2b905d683fd30f00b37c0251d59c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_13_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.348753178471514,
+              0.2132504114394399,
+              1.0039276408267388
+            ],
+            "current_z": 1.0039276408267388,
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+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14282119241661773,
+            "gripper_z": 1.0035930188906894,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.20833538366860724,
+              1.0035930188906894
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+              0.004915027770832664,
+              0.00033462193604938406
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+            "object_to_gripper_z": 0.00033462193604938406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.348753178471514,
+              0.18881748448597416,
+              1.0039276408267388
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+            "finger_b": [
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+              0.2132504114394399,
+              1.0039276408267388
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+            "finger_midpoint": [
+              0.34275664123434896,
+              0.20103394796270702,
+              1.0039276408267388
+            ],
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+              0.005996537237165034,
+              0.012216463476732886,
+              0.0
+            ],
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833633776027792,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 177,
+            "max_stable_success_frames": 177,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05165206906073549,
+              0.7701463897966114
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+              0.03760733168192702,
+              1.0302821410065355
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+            "held_position": [
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+            "held_minus_target": [
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+              0.004780717587429928,
+              0.0002945117907025008
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966114,
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+            "gripper_z": 1.0302821410065355,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.24256384729888,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 1.9996952129308738,
+            "max_source_tilt_deg": 89.93593205459658,
+            "source_upright_tilt_deg": 1.621650351256718,
+            "max_source_upright_tilt_deg": 89.93554519680355,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9996952129308738,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.170199468531202e-08,
+            "max_target_xy_drift": 1.923130377998994e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0517,
+                0.7701
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+              "controller_target_position": [
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+                0.7701
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+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0005268424620512885,
+                -0.0012243727530239297,
+                0.0006647725046355648
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.6216573970969268,
+            "pour_controller_source_return_step_error_deg": 1.9996962918445516,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9913793773984627,
+            "pour_controller_source_return_best_wrist_position": -1.610825538635254,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.610825538635254,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014957896755011687,
+            "valid_pour_held_xy_dist": 0.013939799866345522,
+            "valid_pour_held_gripper_dist": 0.007121347441103601,
+            "valid_pour_required_height": 0.8001463897966115,
+            "valid_pour_held_z": 1.030576652797238,
+            "valid_pour_source_tilt_deg": 1.9996952129308738,
+            "valid_pour_source_upright_tilt_deg": 1.621650351256718,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.170199468531202e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2954592409546774,
+              0.01796979945566771,
+              1.030576652797238
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28427088070036155,
+              0.04238804926935695,
+              1.030576652797238
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2898650608275195,
+              0.03017892436251233,
+              1.030576652797238
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2954592409546774,
+              0.04238804926935695,
+              1.030576652797238
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02685945511629172,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024393349620220838,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0013514666329265297,
+              -0.9995995004563328,
+              0.02826680430098405
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055883479503059654,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037508454564423775,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2954592409546774,
+              0.01796979945566771,
+              1.030576652797238
+            ],
+            "held_grasp_finger_b": [
+              0.28427088070036155,
+              0.04238804926935695,
+              1.030576652797238
+            ],
+            "held_grasp_midpoint": [
+              0.2898650608275195,
+              0.03017892436251233,
+              1.030576652797238
+            ],
+            "held_grasp_object_position": [
+              0.2954592409546774,
+              0.04238804926935695,
+              1.030576652797238
+            ],
+            "held_grasp_finger_gap": 0.02685945511629172,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024393349620220838,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0013514666329265297,
+              -0.9995995004563328,
+              0.02826680430098405
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0055883479503059654,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037508454564423775,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31999434278941474,
+              0.21221759336578916,
+              0.7611065415588474
+            ],
+            "target_position": [
+              0.32459800427714564,
+              0.2116425406080643,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004639437979732412,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2130580738156426,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065415588474,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553390671360692,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08619701542308437,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18350221251702,
+            "release_required_pad_clearance": 0.05309850771154219,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2245950449898833,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b830e0b4161646b6fcf4b44fcf68cfadf5b7c9cfbb9f68aa18b9063036628e6",
+    "visual_seed": 1589966909298702398,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67129f3f028a429be95e002b54cc16b3c2f71745
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_14_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35204646674551254,
+              0.21447536374308443,
+              1.0058623107317168
+            ],
+            "current_z": 1.0058623107317168,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1447557431123061,
+            "gripper_z": 1.0054044192329519,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3469271958243089,
+              0.20961514352944705,
+              1.0054044192329519
+            ],
+            "object_minus_gripper": [
+              0.0051192709212036225,
+              0.004860220213637384,
+              0.0004578914987649618
+            ],
+            "object_to_gripper_xy": 0.00705894293005195,
+            "object_to_gripper_z": 0.0004578914987649618,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35204646674551254,
+              0.18995969439084562,
+              1.0058623107317168
+            ],
+            "finger_b": [
+              0.3402551500958343,
+              0.21447536374308443,
+              1.0058623107317168
+            ],
+            "finger_midpoint": [
+              0.3461508084206734,
+              0.20221752906696502,
+              1.0058623107317168
+            ],
+            "object_minus_finger_midpoint": [
+              0.005895658324839126,
+              0.012257834676119406,
+              0.0
+            ],
+            "finger_gap": 0.02720391869053576,
+            "fingertip_max_gap": 0.09171831274091272,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01360195934526788,
+            "object_to_finger_midpoint_z": 0.0,
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+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32608481416113244,
+              0.20519335723307464,
+              0.7611079717716441
+            ],
+            "target_position": [
+              0.3278927117608705,
+              0.2110128820154686,
+              0.7774145980897915
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21367813599278743,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611079717716441,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538251178278578,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18312238209458764,
+            "release_required_pad_clearance": 0.05277615797192288,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5987207575934878,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "baa287749be79db7f033e20cdc73681b97c3607a0bec9db251c49cf3d40c90b2",
+    "visual_seed": 3587086214093513368,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..369c32bdc0f4eed86ecc5e9a89418b7888969775
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_15_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+          "skill": "pick",
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+              0.2195182848061935,
+              1.0042822024344802
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+              0.20723013446606448,
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+            "stable_success_frames": 178,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+        },
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "max_wrist_deg": 120.25735120685196,
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b9a1721c07eb7d828f322f2082569123ea9038a03bca54deccfa7e51f4efbe0d",
+    "visual_seed": 5651872434188509894,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39764a080453c59ea1b6ee4bed7a16bb9fc4e691
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_16_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.345042579470676,
+              0.2127979833651736,
+              1.0026385170036414
+            ],
+            "current_z": 1.0026385170036414,
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+            "initial_z": 0.7611064484101215,
+            "lift_margin": 0.14153206859351986,
+            "gripper_z": 1.0021953775263783,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34007115039613234,
+              0.20811952724858787,
+              1.0021953775263783
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+              0.004678456116585739,
+              0.0004431394772630437
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+            "object_to_gripper_xy": 0.006826643295063592,
+            "object_to_gripper_z": 0.0004431394772630437,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.345042579470676,
+              0.18817793367889002,
+              1.0026385170036414
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+            "finger_b": [
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+              1.0026385170036414
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+            "finger_midpoint": [
+              0.3394163798002283,
+              0.20048795852203183,
+              1.0026385170036414
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+              0.005626199670447696,
+              0.012310024843141781,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834356034852928,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4411565766379524,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 176,
+            "max_stable_success_frames": 176,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2885743192440693,
+              0.04703690004222846,
+              0.7701463897966117
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+              0.03328148729992235,
+              1.0289105042799507
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+              0.004654054826834807,
+              0.0004028594911023031
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+            "max_held_gripper_dist": 0.006844326358558716,
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+            "missing_held_position_samples": 0,
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+            "gripper_z": 1.0289105042799507,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2474132816096,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.0240190303958285,
+            "max_source_tilt_deg": 89.9235117530884,
+            "source_upright_tilt_deg": 1.8733084814635041,
+            "max_source_upright_tilt_deg": 89.9277354337049,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0240190303958285,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.0669426131007984e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+                0.0,
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+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
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+              "pour_height_range_m": [
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+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.001282210203621824,
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.8733208171837354,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.018324949875794,
+            "pour_controller_source_return_best_wrist_position": -1.6109070777893066,
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+            "pour_controller_wrist_compensated_return_position": -1.6109070777893066,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014543585351700486,
+            "valid_pour_held_xy_dist": 0.013316298771913168,
+            "valid_pour_held_gripper_dist": 0.006841081373274389,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.029313363771053,
+            "valid_pour_source_tilt_deg": 2.0240190303958285,
+            "valid_pour_source_upright_tilt_deg": 1.8733084814635041,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.0669426131007984e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29829486948967493,
+              0.013641638722700829,
+              1.029313363771053
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28738008655117403,
+              0.037935542126757156,
+              1.029313363771053
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2928374780204245,
+              0.02578859042472899,
+              1.029313363771053
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29829486948967493,
+              0.037935542126757156,
+              1.029313363771053
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026633179104271612,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024477505288415847,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.018010941028484325,
+              -0.9994655602572965,
+              0.027280026811515097
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005684871859265401,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037678082937731186,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29829486948967493,
+              0.013641638722700829,
+              1.029313363771053
+            ],
+            "held_grasp_finger_b": [
+              0.28738008655117403,
+              0.037935542126757156,
+              1.029313363771053
+            ],
+            "held_grasp_midpoint": [
+              0.2928374780204245,
+              0.02578859042472899,
+              1.029313363771053
+            ],
+            "held_grasp_object_position": [
+              0.29829486948967493,
+              0.037935542126757156,
+              1.029313363771053
+            ],
+            "held_grasp_finger_gap": 0.026633179104271612,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024477505288415847,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.018010941028484325,
+              -0.9994655602572965,
+              0.027280026811515097
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005684871859265401,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037678082937731186,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31189415235111556,
+              0.21556210477872692,
+              0.7611085714546916
+            ],
+            "target_position": [
+              0.32109501388035594,
+              0.21139226461869476,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010101654312065556,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20959367138487683,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611085714546916,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583535459994684,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621437206258968,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18078891230062002,
+            "release_required_pad_clearance": 0.05310718603129484,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2366750385424863,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f28520dcb8ba9bd81e4fadd7cc045f6bd6c16cbd466c2f0f20ebb2594caf3ea",
+    "visual_seed": 6793922488008193922,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36e6f8c5b46b19f2112e78cf41de79c375217584
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_17_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3483922987983574,
+              0.2178822386594878,
+              1.0055147019283903
+            ],
+            "current_z": 1.0055147019283903,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14440825351826925,
+            "gripper_z": 1.0045019623977027,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34339586761192376,
+              0.21313893112054583,
+              1.0045019623977027
+            ],
+            "object_minus_gripper": [
+              0.00499643118643367,
+              0.0047433075389419765,
+              0.0010127395306875897
+            ],
+            "object_to_gripper_xy": 0.006889360711252588,
+            "object_to_gripper_z": 0.0010127395306875897,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3483922987983574,
+              0.19335737233589312,
+              1.0055147019283903
+            ],
+            "finger_b": [
+              0.3368948583233856,
+              0.2178822386594878,
+              1.0055147019283903
+            ],
+            "finger_midpoint": [
+              0.3426435785608715,
+              0.20561980549769046,
+              1.0055147019283903
+            ],
+            "object_minus_finger_midpoint": [
+              0.005748720237485905,
+              0.012262433161797343,
+              0.0
+            ],
+            "finger_gap": 0.027086162623481916,
+            "fingertip_max_gap": 0.09161032038401187,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013543081311740958,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0055147019283903,
+            "object_top_z": 1.0553403003501316,
+            "finger_top_clearance": 0.04982559842174128,
+            "fingertip_min_top_clearance": 0.01494767952652235,
+            "object_projection_between_fingers": 0.8198196706667873,
+            "object_to_finger_line_xy": 0.010410230294774886,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830516019200594,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4825817038117366,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31069440456442876,
+              0.2219274243888349,
+              0.7611083348176594
+            ],
+            "target_position": [
+              0.3243906436451812,
+              0.21556208241572633,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.015103130251432933,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20337908687438147,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611083348176594,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539861889416452,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09306914878507642,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17655988634470485,
+            "release_required_pad_clearance": 0.056534574392538214,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.433077999699172,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "06cea231972a84384dfb07ffd61a03f85e0c056d99da3945923fd5e2034fbc91",
+    "visual_seed": 2924667143381082933,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69cefcc6063c3fc2c4e207727182e359eced35b6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_18_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+    {
+      "step_index": 1,
+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+            "max_source_tilt_deg": 89.8003364109477,
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
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+            "source_tilt_threshold_deg": 30.0,
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+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_reference_source": "scene_initial",
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0dcf180eb89f5d16211c3351492ddaae8559fe614d0a85121a47f3e944c12e6a",
+    "visual_seed": 3358105561550654340,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9d1669d770bf47ecf7767d0ce2ce35f32b670b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_19_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.20268573072212817,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_z": 1.0295820145779278,
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+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.3726900748371916e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2954947988410521,
+              0.01905899279718984,
+              1.0295820145779278
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2840137863830625,
+              0.04302388790484344,
+              1.0295820145779278
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2897542926120573,
+              0.03104144035101664,
+              1.0295820145779278
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2954947988410521,
+              0.04302388790484344,
+              1.0295820145779278
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026573103781480853,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024105222378421602,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.013436404766050984,
+              -0.9994184719073872,
+              0.03133976766451963
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005912849071134673,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03782190241139388,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2954947988410521,
+              0.01905899279718984,
+              1.0295820145779278
+            ],
+            "held_grasp_finger_b": [
+              0.2840137863830625,
+              0.04302388790484344,
+              1.0295820145779278
+            ],
+            "held_grasp_midpoint": [
+              0.2897542926120573,
+              0.03104144035101664,
+              1.0295820145779278
+            ],
+            "held_grasp_object_position": [
+              0.2954947988410521,
+              0.04302388790484344,
+              1.0295820145779278
+            ],
+            "held_grasp_finger_gap": 0.026573103781480853,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024105222378421602,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.013436404766050984,
+              -0.9994184719073872,
+              0.03133976766451963
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005912849071134673,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03782190241139388,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3088205577758269,
+              0.21421934415709767,
+              0.7611065523243359
+            ],
+            "target_position": [
+              0.32216812121367167,
+              0.2098471252235906,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.014045417335551409,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20651547351633556,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065523243359,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531122470558488,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09384868560439995,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17910730498736016,
+            "release_required_pad_clearance": 0.056924342802199976,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.345385266405437,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ebc8b2777af1a72add4f2f9eb2abf827783ae5e8f1e59d6d3092b1bdf0d3db1e",
+    "visual_seed": 7373475234586027467,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e57d91659f1d70e2abc8b2fab953bbc4c4ae0671
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_1_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35225975127434406,
+              0.21794627718924464,
+              1.0043489003146475
+            ],
+            "current_z": 1.0043489003146475,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1432424519045261,
+            "gripper_z": 1.003359782924819,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34705812304973527,
+              0.21311944884426925,
+              1.003359782924819
+            ],
+            "object_minus_gripper": [
+              0.00520162822460879,
+              0.004826828344975387,
+              0.0009891173898284311
+            ],
+            "object_to_gripper_xy": 0.007096140363528939,
+            "object_to_gripper_z": 0.0009891173898284311,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35225975127434406,
+              0.19325178069445367,
+              1.0043489003146475
+            ],
+            "finger_b": [
+              0.3406769872224894,
+              0.21794627718924464,
+              1.0043489003146475
+            ],
+            "finger_midpoint": [
+              0.34646836924841673,
+              0.20559902894184917,
+              1.0043489003146475
+            ],
+            "object_minus_finger_midpoint": [
+              0.005791382025927327,
+              0.01234724824739547,
+              0.0
+            ],
+            "finger_gap": 0.027275970747384592,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013637985373692282,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0043489003146475,
+            "object_top_z": 1.0541866455731606,
+            "finger_top_clearance": 0.04983774525851303,
+            "fingertip_min_top_clearance": 0.01495132357755391,
+            "object_projection_between_fingers": 0.8196716590379867,
+            "object_to_finger_line_xy": 0.010486538826704923,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834329058655214,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5392902692575703,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 177,
+            "max_stable_success_frames": 177,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
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+                "fr3_joint7",
+                "fr3_leftfinger",
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+                "franka",
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+                "panda_leftfinger",
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+                "panda_rightfinger",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3253801956861858,
+              0.21765725727602744,
+              0.7611064130717496
+            ],
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+              0.32809125436495756,
+              0.21664066645474847,
+              0.7774145980897915
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21383492715408056,
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+            "gripper_away_ok": true,
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+            "min_z_margin": 0.2,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08957905402573467,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18477254247573616,
+            "release_required_pad_clearance": 0.05478952701286734,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.632425641932793,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b549b16cdb0ad1cc9d18954951f39162370d9d3d23092a96a2fb8a8a2b19224",
+    "visual_seed": 8287542148933034458,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8456900cbf25dec67e51b2ceff8af7c540adb4e6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_20_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
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+      "reason": "executed",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.72814205520893,
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+            "max_source_upright_tilt_deg": 89.99078242464705,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.963371725423446,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.6079296157787487e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c1843f7eb18a39f4c083ff7a1dfa320cd066a10b25d67ddde1d3e3d7aefa09e",
+    "visual_seed": 7993612149656571456,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c18d853ab0d4dc812aeb04a6f26f4dd93c7dff3e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_21_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.003798198228913
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+              0.20794266238204323,
+              1.0032758564543816
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+              0.004668269796678476,
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+              1.003798198228913
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+            "finger_midpoint": [
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+              0.20026768621253316,
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+              0.012343245966188549,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 177,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_target_xy_drift": 4.214684852070711e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2945034978162266,
+              0.021283796779110443,
+              1.0315449892180801
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2831270658475459,
+              0.04529298483954395,
+              1.0315449892180801
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2888152818318862,
+              0.0332883908093272,
+              1.0315449892180801
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2945034978162266,
+              0.04529298483954395,
+              1.0315449892180801
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.0265681071147209,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024397912408525735,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03643221254182026,
+              -0.9989277338619904,
+              0.028567051136866528
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006131225858180211,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03793576245328273,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2945034978162266,
+              0.021283796779110443,
+              1.0315449892180801
+            ],
+            "held_grasp_finger_b": [
+              0.2831270658475459,
+              0.04529298483954395,
+              1.0315449892180801
+            ],
+            "held_grasp_midpoint": [
+              0.2888152818318862,
+              0.0332883908093272,
+              1.0315449892180801
+            ],
+            "held_grasp_object_position": [
+              0.2945034978162266,
+              0.04529298483954395,
+              1.0315449892180801
+            ],
+            "held_grasp_finger_gap": 0.0265681071147209,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024397912408525735,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03643221254182026,
+              -0.9989277338619904,
+              0.028567051136866528
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006131225858180211,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03793576245328273,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32142447446646255,
+              0.21001017580568446,
+              0.7611063684395587
+            ],
+            "target_position": [
+              0.3238208820819001,
+              0.2107724074560684,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0025147100326228444,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21160604384036147,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063684395587,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584769529209302,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08873545702973278,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18135102054417357,
+            "release_required_pad_clearance": 0.05436772851486639,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.759229790363016,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 198,
+            "max_placed_release_frames": 198
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31ec4d3e25a3b838a100d32b674fb2dfe9f5b88a8d26da3352fae105f5c1739a",
+    "visual_seed": 3055278557281317039,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_22_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66339cd309a4b713e7681676673dc6f76e294692
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_22_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35435019546506347,
+              0.21417550707594696,
+              1.0048440156581724
+            ],
+            "current_z": 1.0048440156581724,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1437375672480513,
+            "gripper_z": 1.004287458296607,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3491696864562147,
+              0.20929652371047103,
+              1.004287458296607
+            ],
+            "object_minus_gripper": [
+              0.005180509008848755,
+              0.004878983365475931,
+              0.0005565573615653463
+            ],
+            "object_to_gripper_xy": 0.007116329972068043,
+            "object_to_gripper_z": 0.0005565573615653463,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35435019546506347,
+              0.18952946803913548,
+              1.0048440156581724
+            ],
+            "finger_b": [
+              0.34265055895075325,
+              0.21417550707594696,
+              1.0048440156581724
+            ],
+            "finger_midpoint": [
+              0.3485003772079084,
+              0.2018524875575412,
+              1.0048440156581724
+            ],
+            "object_minus_finger_midpoint": [
+              0.005849818257155082,
+              0.012323019518405753,
+              0.0
+            ],
+            "finger_gap": 0.02728202218991503,
+            "fingertip_max_gap": 0.09152466585384914,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013641011094957517,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0048440156581724,
+            "object_top_z": 1.0547635582623978,
+            "finger_top_clearance": 0.049919542604225375,
+            "fingertip_min_top_clearance": 0.014975862781267595,
+            "object_projection_between_fingers": 0.8160958105522005,
+            "object_to_finger_line_xy": 0.01056922013481775,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826233292692457,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5421454975107078,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
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+                "split_aloha",
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+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32872001924264255,
+              0.2063610686365725,
+              0.7611064488830083
+            ],
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+              0.3301723487908281,
+              0.21089264583260106,
+              0.7774145980897915
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21436927122780922,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18362522659853542,
+            "release_required_pad_clearance": 0.05253078730018286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13122121097919645,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "53981d44005613b7da801da1bb14340101738cd0e9554817ed0380211226e405",
+    "visual_seed": 3341461032514331704,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f173743d7172d7ee23adccb068f981969d5b0a9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_23_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.92026349370387,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_xy_drift": 3.1828894262453654e-08,
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+            "target_upright_reference_source": "scene_initial",
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "642442980150c633906fd01aaab4cacf4fc01fdf65dd5a84869c63edaa948d31",
+    "visual_seed": 5101886829085857642,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b378edfdf91835edc6d37a8207d50dda04068d3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_24_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.0029733743847586
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+              1.0029733743847586
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+              0.2085062523015831,
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "missing_end_effector_orientation_samples": 0,
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+            "valid_pour_pose_frames": 0,
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "valid_pour_held_grasp_midpoint": [
+              0.2926092779366522,
+              0.030056923913050797,
+              1.0290659429800653
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29821440995315773,
+              0.04221643878437713,
+              1.0290659429800653
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02677844706688284,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024508733452200154,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.018089478700824953,
+              -0.9994619800606052,
+              0.027359115001526976
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005833588346697834,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03766867117645076,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29821440995315773,
+              0.017897409041724467,
+              1.0290659429800653
+            ],
+            "held_grasp_finger_b": [
+              0.28700414592014667,
+              0.04221643878437713,
+              1.0290659429800653
+            ],
+            "held_grasp_midpoint": [
+              0.2926092779366522,
+              0.030056923913050797,
+              1.0290659429800653
+            ],
+            "held_grasp_object_position": [
+              0.29821440995315773,
+              0.04221643878437713,
+              1.0290659429800653
+            ],
+            "held_grasp_finger_gap": 0.02677844706688284,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024508733452200154,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.018089478700824953,
+              -0.9994619800606052,
+              0.027359115001526976
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005833588346697834,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03766867117645076,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3286312080631977,
+              0.21222854797102178,
+              0.7611081699719021
+            ],
+            "target_position": [
+              0.32751914202309956,
+              0.2163397926518655,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004258993273451527,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2165066555115449,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611081699719021,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544685869961718,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08737647464037811,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18581145434056154,
+            "release_required_pad_clearance": 0.053688237320189056,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.385763791886791,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bcf9ac3961a323a0b98bddc26ff5dfb0479d93969eb6e2a5d7033df73e8b3570",
+    "visual_seed": 270973832178450575,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a22b47c0b0afd67fe033a1724e1cef29e4c996a0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_25_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35049153641746134,
+              0.22119311888593524,
+              1.0048079284150278
+            ],
+            "current_z": 1.0048079284150278,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14370124158632747,
+            "gripper_z": 1.0040158921271896,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3457411208094267,
+              0.21648065917685724,
+              1.0040158921271896
+            ],
+            "object_minus_gripper": [
+              0.0047504156080346305,
+              0.004712459709077993,
+              0.0007920362878381937
+            ],
+            "object_to_gripper_xy": 0.006691317131831556,
+            "object_to_gripper_z": 0.0007920362878381937,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35049153641746134,
+              0.19703413931050903,
+              1.0048079284150278
+            ],
+            "finger_b": [
+              0.3387819748447956,
+              0.22119311888593524,
+              1.0048079284150278
+            ],
+            "finger_midpoint": [
+              0.3446367556311285,
+              0.20911362909822212,
+              1.0048079284150278
+            ],
+            "object_minus_finger_midpoint": [
+              0.005854780786332836,
+              0.012079489787713116,
+              0.0
+            ],
+            "finger_gap": 0.0268471623519118,
+            "fingertip_max_gap": 0.09237008381972014,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0134235811759559,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0048079284150278,
+            "object_top_z": 1.0549497978368765,
+            "finger_top_clearance": 0.05014186942184873,
+            "fingertip_min_top_clearance": 0.015042560826554634,
+            "object_projection_between_fingers": 0.809767598279336,
+            "object_to_finger_line_xy": 0.010537093461241818,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048685041909860075,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6450820367528847,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3286078676292437,
+              0.20591004663562534,
+              0.7611079132058298
+            ],
+            "target_position": [
+              0.3266371010621167,
+              0.2166059999746588,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010875998284887986,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2160326251668327,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611079132058298,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529816034202826,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08877548308782778,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18434130284427938,
+            "release_required_pad_clearance": 0.05438774154391389,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.796321027144648,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c0556e4d6fd00a875c6906295a8135afdee701bfc3e45fb8c5309cd51183fdeb",
+    "visual_seed": 3076573876362818425,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0de3e7f5dadd2110650c08469ce9c3f32f1d624
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_26_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35310409111615154,
+              0.2139482799649625,
+              1.0041915267841834
+            ],
+            "current_z": 1.0041915267841834,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.1430847803508386,
+            "gripper_z": 1.003644737506297,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.20906234613751112,
+              1.003644737506297
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+              0.004885933827451366,
+              0.0005467892778865391
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+            "object_to_gripper_xy": 0.0070042821143747516,
+            "object_to_gripper_z": 0.0005467892778865391,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35310409111615154,
+              0.18966947152912703,
+              1.0041915267841834
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+            "finger_b": [
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+              0.2139482799649625,
+              1.0041915267841834
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+              0.3470863266817213,
+              0.20180887574704476,
+              1.0041915267841834
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+            "object_minus_finger_midpoint": [
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+              0.012139404217917732,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010783295265166542,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841464318683113,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8438099897766618,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 177,
+            "max_stable_success_frames": 177,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04638488483303048,
+              0.7701463897966118
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+              0.034435713802869874,
+              1.0300450989886376
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+              -0.25989870919202585
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+              0.0392807228442774,
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+            "held_minus_target": [
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+              0.2604074458336557
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+            "held_minus_gripper": [
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+              0.0048450090414075275,
+              0.00050873664162987
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+            "held_gripper_dist": 0.0070265637876214156,
+            "max_held_gripper_dist": 0.007031109622913543,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966118,
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+            "required_height": 0.8001463897966118,
+            "gripper_z": 1.0300450989886376,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.25300037635067,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.7706852584285003,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9124957296594538,
+            "max_source_tilt_deg": 89.98641792217228,
+            "source_upright_tilt_deg": 2.1227269541504397,
+            "max_source_upright_tilt_deg": 89.79197608025096,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9124957296594538,
+            "source_upright_return_tilt_deg": 2.1227269541504397,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.4901161193847656e-08,
+            "max_target_xy_drift": 1.2293457984924316e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2893,
+                0.0464,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0464,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
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+                "tilt_axis": [
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+                  0.0008800941918981771,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6114141941070557
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0222,
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+            "pour_controller_controller_t": 0.0,
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+              0.0603,
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+              0.3,
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "position_threshold_m": 0.015,
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+              "approach_xy_threshold_m": 0.08,
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+                0.0008800941918981771,
+                0.0009881695966523257,
+                0.000552217727530474
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_step_error_deg": 1.9128034306387889,
+            "pour_controller_source_return_stable_frames": 5,
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+            "pour_controller_source_return_best_wrist_position": -1.6114141941070557,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6114141941070557,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013532200007126332,
+            "valid_pour_held_xy_dist": 0.013444922884458884,
+            "valid_pour_held_gripper_dist": 0.0070265637876214156,
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+            "valid_pour_held_z": 1.0305538356302675,
+            "valid_pour_source_tilt_deg": 1.9124957296594538,
+            "valid_pour_source_upright_tilt_deg": 2.1227269541504397,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.4901161193847656e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.30068335799883694,
+              0.015257617006230738,
+              1.0305538356302675
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28909060588690516,
+              0.0392807228442774,
+              1.0305538356302675
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29488698194287105,
+              0.02726916992525407,
+              1.0305538356302675
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.30068335799883694,
+              0.0392807228442774,
+              1.0305538356302675
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026673985747066194,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02425530926092004,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.021452055688206656,
+              -0.9993137881037327,
+              0.03019540051925662
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0060634593547115555,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037841283803519775,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30068335799883694,
+              0.015257617006230738,
+              1.0305538356302675
+            ],
+            "held_grasp_finger_b": [
+              0.28909060588690516,
+              0.0392807228442774,
+              1.0305538356302675
+            ],
+            "held_grasp_midpoint": [
+              0.29488698194287105,
+              0.02726916992525407,
+              1.0305538356302675
+            ],
+            "held_grasp_object_position": [
+              0.30068335799883694,
+              0.0392807228442774,
+              1.0305538356302675
+            ],
+            "held_grasp_finger_gap": 0.026673985747066194,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02425530926092004,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.021452055688206656,
+              -0.9993137881037327,
+              0.03019540051925662
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0060634593547115555,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037841283803519775,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32811281012919513,
+              0.21593018326943655,
+              0.7611063231940931
+            ],
+            "target_position": [
+              0.3290664136107961,
+              0.21209867419143336,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003948394789650899,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2149509961850098,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063231940931,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758311790404586,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08819408236894948,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18549615282031223,
+            "release_required_pad_clearance": 0.05409704118447474,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.20752930718968,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bcb1cf4d1499d0f7c34bbad35157e2aebdd66b8dc8592c75064f15cc8f25fee",
+    "visual_seed": 2734472817346957271,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..266fd8a78b908c36c26bfe1f74c689e2ff1f4546
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_27_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+                "shoulder_pan_joint",
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+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.009292512680339513,
+              -0.9995179999082517,
+              0.029621226637224662
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005473441888958519,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03743118748668251,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29943394516261906,
+              0.021391719393120647,
+              1.0308664874607922
+            ],
+            "held_grasp_finger_b": [
+              0.28828319777039757,
+              0.04587802850164516,
+              1.0308664874607922
+            ],
+            "held_grasp_midpoint": [
+              0.2938585714665083,
+              0.033634873947382904,
+              1.0308664874607922
+            ],
+            "held_grasp_object_position": [
+              0.29943394516261906,
+              0.04587802850164516,
+              1.0308664874607922
+            ],
+            "held_grasp_finger_gap": 0.026905733611320558,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024370888243750145,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.009292512680339513,
+              -0.9995179999082517,
+              0.029621226637224662
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005473441888958519,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03743118748668251,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3196332603270539,
+              0.21418554002949294,
+              0.7611064550293369
+            ],
+            "target_position": [
+              0.32397084886554695,
+              0.2139003292557741,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004346955200449093,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21060039242358294,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064550293369,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573062305773895,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08992770326344578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18091616042528808,
+            "release_required_pad_clearance": 0.05496385163172289,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.998403803456656,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 198,
+            "max_placed_release_frames": 198
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17ec9ca0cfffaf687f7a658d42cd6f27321bc37671046f5a5baf6278c2900f10",
+    "visual_seed": 6133768782179690373,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bb41ac721d553b76391f759fec0b64324a0c56a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_28_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34918273341087996,
+              0.21455513436311338,
+              1.0045349632267468
+            ],
+            "current_z": 1.0045349632267468,
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+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14342827639804656,
+            "gripper_z": 1.0045747502476174,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34406411442365925,
+              0.20970733416594117,
+              1.0045747502476174
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+              0.005118618987220713,
+              0.0048478001971722084,
+              -3.978702087059638e-05
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+            "object_to_gripper_xy": 0.007049923906542488,
+            "object_to_gripper_z": -3.978702087059638e-05,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34918273341087996,
+              0.18997683006634547,
+              1.0045349632267468
+            ],
+            "finger_b": [
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+              0.21455513436311338,
+              1.0045349632267468
+            ],
+            "finger_midpoint": [
+              0.3433380510911943,
+              0.2022659822147294,
+              1.0045349632267468
+            ],
+            "object_minus_finger_midpoint": [
+              0.005844682319685657,
+              0.01228915214838397,
+              0.0
+            ],
+            "finger_gap": 0.027216434148813574,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "finger_top_clearance": 0.050092036773390136,
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+            "object_projection_between_fingers": 0.8155327113554972,
+            "object_to_finger_line_xy": 0.010556296962762578,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841294337628001,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4917246996545719,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
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+            "target_position": [
+              0.3250444903649449,
+              0.21170389384685948,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00469584707750787,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21753028431786994,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064335601683,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525207163597883,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584105107718536,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1888566398115614,
+            "release_required_pad_clearance": 0.05292052553859268,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8793711576520677,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2dfde9d1202db6ec929b195350cae199136d05256a150f19a36967d6e62feffe",
+    "visual_seed": 8524093516251296500,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..676d27d8b510f2260e90710b3b274f4fc7ea02f0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_29_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3452250811619856,
+              0.2184204184305115,
+              1.0061290112689045
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+            "current_z": 1.0061290112689045,
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+            "lift_margin": 0.14502256285878323,
+            "gripper_z": 1.0052147000913614,
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+            "gripper_position": [
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+              0.2138847113563665,
+              1.0052147000913614
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+              0.004535707074144996,
+              0.0009143111775431478
+            ],
+            "object_to_gripper_xy": 0.006527782659542627,
+            "object_to_gripper_z": 0.0009143111775431478,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3452250811619856,
+              0.19403253764395526,
+              1.0061290112689045
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+            "finger_b": [
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+              0.2184204184305115,
+              1.0061290112689045
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+            "finger_midpoint": [
+              0.33967645039717487,
+              0.20622647803723337,
+              1.0061290112689045
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+              0.012193940393278119,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477171590898814,
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+            "object_tilt_deg": 0.40690581233158335,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04908897247784591,
+              0.7701465090059011
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+              0.0347290530734109,
+              1.0292912746442728
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+              0.004515196297502383,
+              0.0008771143612054111
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+            "max_held_gripper_dist": 0.0066086884575903585,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059011,
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+            "gripper_z": 1.0292912746442728,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.24585599847883,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.5659743151361867,
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+            "source_tilt_deg": 1.9646084058628823,
+            "max_source_tilt_deg": 89.68082208271524,
+            "source_upright_tilt_deg": 1.6325156681542667,
+            "max_source_upright_tilt_deg": 89.91436122641862,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9646084058628823,
+            "source_upright_return_tilt_deg": 1.6325156681542667,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.003425057343598e-08,
+            "max_target_xy_drift": 1.0437463019879088e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0491,
+                0.7701
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+              "controller_target_position": [
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+                0.7701
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+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+              "source_pose_held_object": "beaker_a",
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6107743978500366
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2878,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.022,
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+            "pour_controller_controller_t": 0.0,
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+              0.0603,
+              0.0904
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.00186110629207543,
+                -0.0007312021336819314
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.6325131192020794,
+            "pour_controller_source_return_step_error_deg": 1.9646074600861458,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9609016537894663,
+            "pour_controller_source_return_best_wrist_position": -1.6107743978500366,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6107743978500366,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.015019240240046354,
+            "valid_pour_held_xy_dist": 0.01342383652902985,
+            "valid_pour_held_gripper_dist": 0.0065938430507376114,
+            "valid_pour_required_height": 0.8001465090059011,
+            "valid_pour_held_z": 1.0301683890054782,
+            "valid_pour_source_tilt_deg": 1.9646084058628823,
+            "valid_pour_source_upright_tilt_deg": 1.6325156681542667,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.003425057343598e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29693011908004163,
+              0.01512098114866178,
+              1.0301683890054782
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28624390036483693,
+              0.03924424937091328,
+              1.0301683890054782
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2915870097224393,
+              0.027182615259787532,
+              1.0301683890054782
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29693011908004163,
+              0.03924424937091328,
+              1.0301683890054782
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026384225214166897,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024078296401852203,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.003292143924825984,
+              -0.9995941159263136,
+              0.02829779485878125
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005314359770377796,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03764592129914633,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29693011908004163,
+              0.01512098114866178,
+              1.0301683890054782
+            ],
+            "held_grasp_finger_b": [
+              0.28624390036483693,
+              0.03924424937091328,
+              1.0301683890054782
+            ],
+            "held_grasp_midpoint": [
+              0.2915870097224393,
+              0.027182615259787532,
+              1.0301683890054782
+            ],
+            "held_grasp_object_position": [
+              0.29693011908004163,
+              0.03924424937091328,
+              1.0301683890054782
+            ],
+            "held_grasp_finger_gap": 0.026384225214166897,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024078296401852203,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.003292143924825984,
+              -0.9995941159263136,
+              0.02829779485878125
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005314359770377796,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03764592129914633,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31554295486102313,
+              0.21442426691790184,
+              0.7611064343012883
+            ],
+            "target_position": [
+              0.32153244279847576,
+              0.21529962021161497,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00605311565573507,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21115193232795726,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064343012883,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555105015784606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.089767152465673,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18177520544415193,
+            "release_required_pad_clearance": 0.0548835762328365,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.829518183423506,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1397fce79dc98eafd15d60fbf35fdd6b55d6f31c6713c28d8deadda1def8150",
+    "visual_seed": 7674014802457550729,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d315ddaeb9b2f04a9f8af9655ab2980e315dc80
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_2_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+              0.020988939216148514,
+              1.029581740040732
+            ],
+            "held_grasp_finger_b": [
+              0.2840598016023106,
+              0.044961440083082505,
+              1.029581740040732
+            ],
+            "held_grasp_midpoint": [
+              0.2898486264997625,
+              0.03297518964961551,
+              1.029581740040732
+            ],
+            "held_grasp_object_position": [
+              0.2956374513972144,
+              0.044961440083082505,
+              1.029581740040732
+            ],
+            "held_grasp_finger_gap": 0.026621847655423688,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024095803853935963,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.011723935151557533,
+              -0.9994813795828006,
+              0.029992019135494208
+            ],
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+            "held_grasp_object_to_finger_line_xy": 0.005939780039089056,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037808083758529974,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32359291250970906,
+              0.20879480803777556,
+              0.7611063332130166
+            ],
+            "target_position": [
+              0.3255136851679975,
+              0.21103077067383605,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0029476934227777164,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21416338102235238,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063332130166,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532611734899326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.091174053722733,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18429576951955823,
+            "release_required_pad_clearance": 0.055587026861366504,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.33164904793703,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2118a70295cf1cb60e303bb9156b1434a3f8132642ab996a359b9c188f8f0626",
+    "visual_seed": 5142844787708465335,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_30_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4bb40c6bb9c40d36e5d2335c2dbf4864129b64b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_30_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.345875023249008,
+              0.21309416607683257,
+              1.0055155258323896
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+            "gripper_z": 1.0047891975832028,
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+            "gripper_position": [
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+              0.20838636870380922,
+              1.0047891975832028
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+              0.004707797373023348,
+              0.0007263282491867251
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+              0.345875023249008,
+              0.1887057456666137,
+              1.0055155258323896
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+              1.0055155258323896
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+              0.20089995587172313,
+              1.0055155258323896
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+              0.005766762138293302,
+              0.01219421020510944,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5112887932596225,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "430e5ba2c56b3f86e83a7781fd319db62aa0cf14c163694ab9cc47704eb484fe",
+    "visual_seed": 3795155711535320449,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..640ef50be8f3ae321cdc73912bbfbed130229ae8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_31_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3489430156562976,
+              0.2179854287340446,
+              1.0024774686734075
+            ],
+            "current_z": 1.0024774686734075,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14137102026328618,
+            "gripper_z": 1.002234584244707,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3436735868937104,
+              0.21321022440240833,
+              1.002234584244707
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+            "object_minus_gripper": [
+              0.0052694287625871805,
+              0.004775204331636279,
+              0.0002428844287005738
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+            "object_to_gripper_xy": 0.0071112204221820425,
+            "object_to_gripper_z": 0.0002428844287005738,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3489430156562976,
+              0.1931651392409301,
+              1.0024774686734075
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+            "finger_b": [
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+              0.2179854287340446,
+              1.0024774686734075
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+            "finger_midpoint": [
+              0.3432237522302739,
+              0.20557528398748737,
+              1.0024774686734075
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+              0.005719263426023691,
+              0.012410144746557245,
+              0.0
+            ],
+            "finger_gap": 0.027329227341200482,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.824819611442778,
+            "object_to_finger_line_xy": 0.010388422047138239,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048808222673076565,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9957695472765031,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 176,
+            "max_stable_success_frames": 176,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2877877465492908,
+              0.05391930681341149,
+              0.7701463897966118
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+            "gripper_position": [
+              0.29351618286609116,
+              0.03924717045437215,
+              1.0284601166749188
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+            "target_minus_gripper": [
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+              0.014672136359039342,
+              -0.258313726878307
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+            "held_position": [
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+              0.04402832020009984,
+              1.028661363831301
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+            "held_minus_target": [
+              0.010992579170529482,
+              -0.009890986613311649,
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+            "held_minus_gripper": [
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+              0.004781149745727693,
+              0.00020124715638214496
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+            "xy_dist": 0.015750764044130734,
+            "held_xy_dist": 0.014787441056689587,
+            "held_gripper_dist": 0.007114147404537749,
+            "max_held_gripper_dist": 0.007118400125957521,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966118,
+            "held_z": 1.028661363831301,
+            "required_height": 0.8001463897966118,
+            "gripper_z": 1.0284601166749188,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.24048063960203,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 2.6148885477428636,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8075840015016804,
+            "max_source_tilt_deg": 89.71237568525446,
+            "source_upright_tilt_deg": 2.8646340631505165,
+            "max_source_upright_tilt_deg": 89.73363400217313,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8075840015016804,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.3527612686157227e-08,
+            "max_target_xy_drift": 1.8143349382111313e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2878,
+                0.0539,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0539,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0015,
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6081781387329102
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+                0.0,
+                0.0
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+              "tilt_axis_frame": "end_effector",
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+              "approach_height_range_m": [
+                0.3,
+                0.4
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+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "approach_xy_threshold_m": 0.08,
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+                -0.0014647418126222016,
+                -0.0014661999579830556
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+            },
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.8648578895270194,
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+            "pour_controller_source_return_best_wrist_position": -1.6081781387329102,
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+            "pour_controller_wrist_compensated_return_position": -1.6081781387329102,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.015750764044130734,
+            "valid_pour_held_xy_dist": 0.014787441056689587,
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+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.028661363831301,
+            "valid_pour_source_tilt_deg": 1.8075840015016804,
+            "valid_pour_source_upright_tilt_deg": 2.8646340631505165,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.3527612686157227e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29878032571982027,
+              0.019615477786976386,
+              1.028661363831301
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2874781140768381,
+              0.04402832020009984,
+              1.028661363831301
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2931292198983292,
+              0.031821898993538114,
+              1.028661363831301
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29878032571982027,
+              0.04402832020009984,
+              1.028661363831301
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026902172081650976,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024777001169416873,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.034919264788064834,
+              -0.9987504050432805,
+              0.035752949144710826
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006089303880649607,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03772641440643867,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29878032571982027,
+              0.019615477786976386,
+              1.028661363831301
+            ],
+            "held_grasp_finger_b": [
+              0.2874781140768381,
+              0.04402832020009984,
+              1.028661363831301
+            ],
+            "held_grasp_midpoint": [
+              0.2931292198983292,
+              0.031821898993538114,
+              1.028661363831301
+            ],
+            "held_grasp_object_position": [
+              0.29878032571982027,
+              0.04402832020009984,
+              1.028661363831301
+            ],
+            "held_grasp_finger_gap": 0.026902172081650976,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024777001169416873,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.034919264788064834,
+              -0.9987504050432805,
+              0.035752949144710826
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006089303880649607,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03772641440643867,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.331222113875418,
+              0.21580746402433024,
+              0.7611094901098754
+            ],
+            "target_position": [
+              0.3245173247933848,
+              0.21408185809722508,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006923287690845448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22163654130752544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611094901098754,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588303156312738,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08790697327297801,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19085195388157253,
+            "release_required_pad_clearance": 0.05395348663648901,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.914735639268007,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 203,
+            "max_placed_release_frames": 203
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c0167fac2d3324acf678742b829fce717d0cb330c8c712c17bfbe2d78ff087c",
+    "visual_seed": 1913842599002670188,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59b81fe7009e4dfcf5650e34a7704679976df1b4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_32_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35081427926351105,
+              0.2155784904101859,
+              1.0029051511463067
+            ],
+            "current_z": 1.0029051511463067,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.14179846431760623,
+            "gripper_z": 1.002026590220101,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3457924440263793,
+              0.21063427720818673,
+              1.002026590220101
+            ],
+            "object_minus_gripper": [
+              0.005021835237131733,
+              0.00494421320199917,
+              0.0008785609262056404
+            ],
+            "object_to_gripper_xy": 0.0070472741777030945,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02436724292305034,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007006273775114778,
+              -0.9996510545083237,
+              0.02546922354892145
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005466778991879678,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03745894761151549,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31394204130836256,
+              0.2117026260289574,
+              0.7611075088255855
+            ],
+            "target_position": [
+              0.3267321229791188,
+              0.21173738257347793,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.012790128895441268,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20569375028948195,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611075088255855,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538433771286793,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08998837299034339,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17716910286885462,
+            "release_required_pad_clearance": 0.054994186495171696,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.060670509997632,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bf9eba302de08ee37445421e40bbec1b1b07e50378f63876cec2f5253bced4d7",
+    "visual_seed": 5346392054554011757,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f68f44328fbe1cadbf6ce09b571dde853eeb08e4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_33_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.21917476643102876,
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+              0.194957195968334,
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+              0.2070659811996814,
+              1.0047129128259367
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+              0.005892523020021412,
+              0.012108785231347369,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
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+            "stable_success_frames": 178,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05222834539287545,
+              0.7701463897966118
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+            "gripper_position": [
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+              0.03997834240221018,
+              1.0305931350718383
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+            "target_minus_gripper": [
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+              0.012250002990665268,
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+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "259a8e8afff28f185993488b59a647487622ffd1cd2c31b0cfe8b07b3a888104",
+    "visual_seed": 6812156406149509935,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f313ea8c4342e590650f30378ea51ada0e1fad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_34_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.3452104686849692,
+              0.2213103847207092,
+              1.0051154970804288
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+            "lift_margin": 0.1440088698563734,
+            "gripper_z": 1.0043475844541754,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21631656928155285,
+              1.0043475844541754
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+              0.004993815439156363,
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+            "object_to_gripper_z": 0.0007679126262534197,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.19684825265086733,
+              1.0051154970804288
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+            "finger_b": [
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+              0.2213103847207092,
+              1.0051154970804288
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+              0.33912821734279347,
+              0.20907931868578827,
+              1.0051154970804288
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+              0.01223106603492094,
+              0.0
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832650887981861,
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+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+              ],
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
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+            "target_position": [
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+              0.042973307512348194,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.24619067774816,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "pour_pose_offset": [
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+            "pour_controller_skill": "pour",
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0018397253794006202,
+                0.001277766031966241
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.7101716693546978,
+            "pour_controller_source_return_step_error_deg": 1.8146077551752964,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.809740713901236,
+            "pour_controller_source_return_best_wrist_position": -1.6106218099594116,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6106218099594116,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.012082118436632193,
+            "valid_pour_held_xy_dist": 0.012071050629984623,
+            "valid_pour_held_gripper_dist": 0.007280873822288901,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0312569835358776,
+            "valid_pour_source_tilt_deg": 1.814600338061004,
+            "valid_pour_source_upright_tilt_deg": 1.7101676992687267,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.0719530773294423e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2977528010055769,
+              0.023623911828602503,
+              1.0312569835358776
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28612134595181676,
+              0.04790257957072706,
+              1.0312569835358776
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2919370734786968,
+              0.035763245699664784,
+              1.0312569835358776
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2977528010055769,
+              0.04790257957072706,
+              1.0312569835358776
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02692107824735334,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024365403335716133,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.008386707996801825,
+              -0.999554587441243,
+              0.028640702752256275
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005927496386369395,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037635098019350804,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2977528010055769,
+              0.023623911828602503,
+              1.0312569835358776
+            ],
+            "held_grasp_finger_b": [
+              0.28612134595181676,
+              0.04790257957072706,
+              1.0312569835358776
+            ],
+            "held_grasp_midpoint": [
+              0.2919370734786968,
+              0.035763245699664784,
+              1.0312569835358776
+            ],
+            "held_grasp_object_position": [
+              0.2977528010055769,
+              0.04790257957072706,
+              1.0312569835358776
+            ],
+            "held_grasp_finger_gap": 0.02692107824735334,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024365403335716133,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.008386707996801825,
+              -0.999554587441243,
+              0.028640702752256275
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005927496386369395,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037635098019350804,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31673807248535557,
+              0.21591351179911675,
+              0.7611077040560698
+            ],
+            "target_position": [
+              0.32091925774573665,
+              0.21820407622559693,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004767493636438804,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21438520179724269,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611077040560698,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538543007636127,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08906104260742258,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18471757741817196,
+            "release_required_pad_clearance": 0.05453052130371129,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.0924372949895895,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 206,
+            "max_placed_release_frames": 206
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff880855ae19be3b862592f52b8136a987415cfdff386908e5ff9c734cf3b806",
+    "visual_seed": 7583278284365006465,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cf809ad961806f95a8a99f1f2397c5794459123
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_35_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34497042706965536,
+              0.22212815144444734,
+              1.0057563705804915
+            ],
+            "current_z": 1.0057563705804915,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14464992217037043,
+            "gripper_z": 1.005229601667511,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3398932630648646,
+              0.217351119637283,
+              1.005229601667511
+            ],
+            "object_minus_gripper": [
+              0.005077164004790746,
+              0.0047770318071643225,
+              0.0005267689129804243
+            ],
+            "object_to_gripper_xy": 0.006971199840644538,
+            "object_to_gripper_z": 0.0005267689129804243,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34497042706965536,
+              0.1975034705662332,
+              1.0057563705804915
+            ],
+            "finger_b": [
+              0.3334790642327384,
+              0.22212815144444734,
+              1.0057563705804915
+            ],
+            "finger_midpoint": [
+              0.33922474565119687,
+              0.20981581100534027,
+              1.0057563705804915
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057456814184584926,
+              0.012312340439107061,
+              0.0
+            ],
+            "finger_gap": 0.027174000960542434,
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+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32071040663579903,
+              0.22650646165737773,
+              0.7611066601766722
+            ],
+            "target_position": [
+              0.3208653885760757,
+              0.21873514126436214,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007772865626827208,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21424576767289263,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066601766722,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538404040157984,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08664896792772302,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1863035640784163,
+            "release_required_pad_clearance": 0.05332448396386151,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.666434744323365,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27ed65d3fedea493c94d35a27dfad2f93c4b5dd438ac4d65bead3a10e9e4fd48",
+    "visual_seed": 3385659804923604513,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0782e416a9b96dc6e6a48f982ad263c02bea768
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_36_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.3471020176150478,
+              0.21867504629700807,
+              1.0025680235692596
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+              1.0025680235692596
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+              0.20635529072645875,
+              1.0025680235692596
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+              1.0
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+            "stable_success_frames": 176,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+              ],
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+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "target_position": [
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+            "max_held_gripper_dist": 0.007117258353556731,
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+            "xy_threshold": 0.15,
+            "target_z": 0.770146330191967,
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+            "gripper_z": 1.030270212717792,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2459516211272,
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+                "joint5",
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+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7cdc9e1d4bd7ca70c627a359f7151a8af1eefb45ce9a1ca0abd708fb8499b0e",
+    "visual_seed": 8820696136296585725,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57afafbbd5a37c37e67ee5f16e566b2537f1ad09
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_38_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.21284775320539462,
+              1.00591150338915
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+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14480505497902874,
+            "gripper_z": 1.0053277721990277,
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+            "gripper_position": [
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+              0.20812641950062538,
+              1.0053277721990277
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+              0.004721333704769237,
+              0.0005837311901222275
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+            "object_to_gripper_z": 0.0005837311901222275,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.18829432884852548,
+              1.00591150338915
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+            "finger_b": [
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+              0.21284775320539462,
+              1.00591150338915
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+              0.20057104102696005,
+              1.00591150338915
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+              0.012276712178434568,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010382024732615482,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481359425853279,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05118700754516581,
+              0.7701464494012563
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+            "gripper_position": [
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+              0.03896946675507797,
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+              0.012217540790087841,
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+              0.04368518562356915,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0047157188684911824,
+              0.0005435806770142104
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.24170324346346,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.915672589667,
+            "source_upright_tilt_deg": 1.9217116533720093,
+            "max_source_upright_tilt_deg": 89.91186183877008,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 2.60770320892334e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.0512,
+                0.7701
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+              "controller_target_position": [
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+                0.0512,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+              "wrist_compensated_return_position": -1.6089284420013428
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_pour_pose_offset": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
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+              "pour_height_range_m": [
+                0.2,
+                0.2
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.921711417901037,
+            "pour_controller_source_return_step_error_deg": 1.74480138972131,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9075592067315483,
+            "pour_controller_source_return_best_wrist_position": -1.6089284420013428,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6089284420013428,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013935287824107736,
+            "valid_pour_held_xy_dist": 0.01391398219076539,
+            "valid_pour_held_gripper_dist": 0.006905989895198055,
+            "valid_pour_required_height": 0.8001464494012563,
+            "valid_pour_held_z": 1.030443955384967,
+            "valid_pour_source_tilt_deg": 1.7448010058201886,
+            "valid_pour_source_upright_tilt_deg": 1.9217116533720093,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.60770320892334e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2964492317074485,
+              0.019470163812025116,
+              1.030443955384967
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28524477476828725,
+              0.04368518562356915,
+              1.030443955384967
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2908470032378679,
+              0.031577674717797134,
+              1.030443955384967
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2964492317074485,
+              0.04368518562356915,
+              1.030443955384967
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026681587970641338,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02433243228976083,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.011694389112868613,
+              -0.9994375887358631,
+              0.03142845025006369
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005755958761840056,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03768506320445958,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2964492317074485,
+              0.019470163812025116,
+              1.030443955384967
+            ],
+            "held_grasp_finger_b": [
+              0.28524477476828725,
+              0.04368518562356915,
+              1.030443955384967
+            ],
+            "held_grasp_midpoint": [
+              0.2908470032378679,
+              0.031577674717797134,
+              1.030443955384967
+            ],
+            "held_grasp_object_position": [
+              0.2964492317074485,
+              0.04368518562356915,
+              1.030443955384967
+            ],
+            "held_grasp_finger_gap": 0.026681587970641338,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02433243228976083,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.011694389112868613,
+              -0.9994375887358631,
+              0.03142845025006369
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005755958761840056,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03768506320445958,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31361300383680574,
+              0.20779822938250986,
+              0.7611064089764166
+            ],
+            "target_position": [
+              0.32112656492353786,
+              0.20891004163251703,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00759537534841572,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21016257537597047,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064089764166,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574718320287326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08773037752494965,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18037847762901252,
+            "release_required_pad_clearance": 0.05386518876247483,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7397587805717643,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "459e09d29f15caaf3226a4939d370ebc26376cf3d369ef4584c5cc2b72f0498e",
+    "visual_seed": 7277369534039311311,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..99ae82017c0946f2cd3a7a50cbfb7c58b2f90c3d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_39_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34788617963573193,
+              0.2236742514027903,
+              1.002560771789418
+            ],
+            "current_z": 1.002560771789418,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14145432337929686,
+            "gripper_z": 1.002109587354666,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34277089903235447,
+              0.21874370340202737,
+              1.002109587354666
+            ],
+            "object_minus_gripper": [
+              0.005115280603377459,
+              0.004930548000762924,
+              0.00045118443475211656
+            ],
+            "object_to_gripper_xy": 0.007104674463979115,
+            "object_to_gripper_z": 0.00045118443475211656,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34788617963573193,
+              0.19927445959774887,
+              1.002560771789418
+            ],
+            "finger_b": [
+              0.33585483387105697,
+              0.2236742514027903,
+              1.002560771789418
+            ],
+            "finger_midpoint": [
+              0.3418705067533945,
+              0.21147435550026958,
+              1.002560771789418
+            ],
+            "object_minus_finger_midpoint": [
+              0.006015672882337453,
+              0.012199895902520713,
+              0.0
+            ],
+            "finger_gap": 0.0272048363538274,
+            "fingertip_max_gap": 0.09148322097208614,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013602418176913687,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002560771789418,
+            "object_top_z": 1.0525473232412383,
+            "finger_top_clearance": 0.049986551451820294,
+            "fingertip_min_top_clearance": 0.014995965435546054,
+            "object_projection_between_fingers": 0.804414713579317,
+            "object_to_finger_line_xy": 0.010790814102847383,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824161048604307,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3144437162166718,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31987841806543293,
+              0.22373813907721113,
+              0.7611129008115001
+            ],
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+              0.3237815001554509,
+              0.21857029493639799,
+              0.7774145980897915
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+            "gripper_dist": 0.21337454925811727,
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+            "gripper_away_ok": true,
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+            "min_z": 0.5774145980897916,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08599636157200156,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18432335756841428,
+            "release_required_pad_clearance": 0.052998180786000784,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0015302067487881,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c072fc13d7c04ddcc322c343c766a8ece9d49e82589bf355a073870300d0738b",
+    "visual_seed": 3173561895311606543,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..75e2d2748cdb14a2c8d90c98b51a31349751e0e0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_3_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "source_upright_tilt_deg": 3.0988335891374494,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82dbd909a446bace060d374d464f76f97aa106fd8e54b2282ce56ca0c3a82d30",
+    "visual_seed": 7144621575162453196,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c5a74edab6d179188a5dc56ff1eb4676507e7e3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_40_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+          "metrics": {
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+              0.21754094646058383,
+              1.005946715124208
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+            "lift_margin": 0.1448402071094419,
+            "gripper_z": 1.0052364859695615,
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+            "virtual_attach_allowed": false,
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+              0.21282758717001535,
+              1.0052364859695615
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+              0.004713359290568486,
+              0.00071022915464658
+            ],
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+            "object_to_gripper_z": 0.00071022915464658,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.19307300649030812,
+              1.005946715124208
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+            "finger_b": [
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+              0.21754094646058383,
+              1.005946715124208
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+            "finger_midpoint": [
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+              0.205306976475446,
+              1.005946715124208
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+              0.012233969985137844,
+              0.0
+            ],
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+              0.0,
+              1.0
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+            "stable_success_frames": 179,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04688077312581994,
+              0.7701463301919669
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+              0.03422712593539902,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_xy_drift": 3.332000937312528e-08,
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+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              "controller_target_position": [
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+              "pour_pose_offset": [
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+              "tilt_axis_frame": "end_effector",
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+              "approach_height_range_m": [
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_wrist_compensated_return_position": -1.6117957830429077,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013520093418310628,
+            "valid_pour_held_xy_dist": 0.012509868877415634,
+            "valid_pour_held_gripper_dist": 0.006859674206218801,
+            "valid_pour_required_height": 0.8001463301919669,
+            "valid_pour_held_z": 1.0305880144107538,
+            "valid_pour_source_tilt_deg": 1.892934046377937,
+            "valid_pour_source_upright_tilt_deg": 2.1821394674324375,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.332000937312528e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.292883644202005,
+              0.014921724940324661,
+              1.0305880144107538
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28161415926516453,
+              0.03895950454785873,
+              1.0305880144107538
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.28724890173358475,
+              0.026940614744091696,
+              1.0305880144107538
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.292883644202005,
+              0.03895950454785873,
+              1.0305880144107538
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026548373569807535,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02431072110233717,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.025766278597216342,
+              -0.9992748417694454,
+              0.028033720657463235
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005951982679741881,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03785526220745624,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.292883644202005,
+              0.014921724940324661,
+              1.0305880144107538
+            ],
+            "held_grasp_finger_b": [
+              0.28161415926516453,
+              0.03895950454785873,
+              1.0305880144107538
+            ],
+            "held_grasp_midpoint": [
+              0.28724890173358475,
+              0.026940614744091696,
+              1.0305880144107538
+            ],
+            "held_grasp_object_position": [
+              0.292883644202005,
+              0.03895950454785873,
+              1.0305880144107538
+            ],
+            "held_grasp_finger_gap": 0.026548373569807535,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02431072110233717,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.025766278597216342,
+              -0.9992748417694454,
+              0.028033720657463235
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005951982679741881,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03785526220745624,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3218543160028927,
+              0.21570346901722118,
+              0.7611072645649569
+            ],
+            "target_position": [
+              0.3248919738983207,
+              0.21444576572787322,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0032877322052887203,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21510818814363158,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611072645649569,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551734838082663,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0880509825139215,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1858282306838857,
+            "release_required_pad_clearance": 0.05402549125696075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.058877351638564,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c74b34cc25595908170179c101c64a1ddab469232582f354a8f808c1c98353d",
+    "visual_seed": 4458886342728030022,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6c5c32bb975c67e9f45da30d9ceced0b56b358b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_41_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3536653659284751,
+              0.21364126222337645,
+              1.005032493475471
+            ],
+            "current_z": 1.005032493475471,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.14392592585606012,
+            "gripper_z": 1.004311485937315,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3485541952488467,
+              0.2088226264903934,
+              1.004311485937315
+            ],
+            "object_minus_gripper": [
+              0.005111170679628407,
+              0.004818635732983051,
+              0.000721007538156071
+            ],
+            "object_to_gripper_xy": 0.007024479770308561,
+            "object_to_gripper_z": 0.000721007538156071,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3536653659284751,
+              0.1890681655829306,
+              1.005032493475471
+            ],
+            "finger_b": [
+              0.34201771688704796,
+              0.21364126222337645,
+              1.005032493475471
+            ],
+            "finger_midpoint": [
+              0.3478415414077615,
+              0.20135471390315351,
+              1.005032493475471
+            ],
+            "object_minus_finger_midpoint": [
+              0.005823824520713561,
+              0.01228654832022294,
+              0.0
+            ],
+            "finger_gap": 0.02719383766026688,
+            "fingertip_max_gap": 0.09210241563203161,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013596918830133453,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.005032493475471,
+            "object_top_z": 1.0551707865604105,
+            "finger_top_clearance": 0.050138293084939445,
+            "fingertip_min_top_clearance": 0.015041487925481815,
+            "object_projection_between_fingers": 0.8165424660335049,
+            "object_to_finger_line_xy": 0.010525134742095677,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855120781601581,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5870964825842697,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "robot",
+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
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+                "left_inner_finger",
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+                "mobile_rotate",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3288103921881586,
+              0.2048153301125172,
+              0.7611092084735492
+            ],
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+              0.3295585082954767,
+              0.20919855410329896,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.004446608849830795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21698492888857648,
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+            "gripper_away_ok": true,
+            "object_z": 0.7611092084735492,
+            "min_z": 0.5774145980897916,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585021612022198,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865436702242278,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18565000795627792,
+            "release_required_pad_clearance": 0.053271835112113905,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5586764411349587,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd4da296fc7a8385a7fd362da10ea19a512d45ff572ed905441336d5ae8a568e",
+    "visual_seed": 3350092413731004272,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..335b15b0cc8cd02862dcc6999c1e5d59ec8daf85
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_42_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+                {
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+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "source_upright_tilt_deg": 2.121397701391166,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.1828894262453654e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b0bac8edde24e0e913c32dae6fa3708504dd0b3a25053b81ea02a4daa11cc599",
+    "visual_seed": 6272792986685914784,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9146cdee4adb63a4d640cfc1811fb8458be5364
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_43_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.20793058615083854,
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "max_valid_pour_pose_frames": 220,
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+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.0719530773294423e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2999350519632751,
+              0.021829135616450033,
+              1.0313283316121642
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28797495654734706,
+              0.04601899031626391,
+              1.0313283316121642
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29395500425531107,
+              0.03392406296635697,
+              1.0313283316121642
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2999350519632751,
+              0.04601899031626391,
+              1.0313283316121642
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026985050542035486,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024566266894847744,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.034110200417668886,
+              -0.9986957732070164,
+              0.03799008825873451
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006405351162099792,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03784507787432294,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2999350519632751,
+              0.021829135616450033,
+              1.0313283316121642
+            ],
+            "held_grasp_finger_b": [
+              0.28797495654734706,
+              0.04601899031626391,
+              1.0313283316121642
+            ],
+            "held_grasp_midpoint": [
+              0.29395500425531107,
+              0.03392406296635697,
+              1.0313283316121642
+            ],
+            "held_grasp_object_position": [
+              0.2999350519632751,
+              0.04601899031626391,
+              1.0313283316121642
+            ],
+            "held_grasp_finger_gap": 0.026985050542035486,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024566266894847744,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.034110200417668886,
+              -0.9986957732070164,
+              0.03799008825873451
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006405351162099792,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03784507787432294,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.33168138073574754,
+              0.21789688981940475,
+              0.7611063546838489
+            ],
+            "target_position": [
+              0.3281430516442377,
+              0.21769151684486532,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003544284246289535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2174814342159731,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063546838489,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588375877714824,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585117391234841,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18685094035226513,
+            "release_required_pad_clearance": 0.052925586956174206,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8891078711792985,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b92f09ae55cd97b04d1b7b67bf7e409fd77429ccb1298a7c001d56ab517b9129",
+    "visual_seed": 7609288874398745719,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_44_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11e332730266a1f643438ffd2918948bf12e0ccb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_44_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35217845613981186,
+              0.21377638194424387,
+              1.0059691989882178
+            ],
+            "current_z": 1.0059691989882178,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14486269097345195,
+            "gripper_z": 1.0051160078883299,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3465524599602567,
+              0.20884105565575886,
+              1.0051160078883299
+            ],
+            "object_minus_gripper": [
+              0.0056259961795551705,
+              0.0049353262884850035,
+              0.0008531910998879066
+            ],
+            "object_to_gripper_xy": 0.007483934699486663,
+            "object_to_gripper_z": 0.0008531910998879066,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35217845613981186,
+              0.18879301559645528,
+              1.0059691989882178
+            ],
+            "finger_b": [
+              0.3404018728628473,
+              0.21377638194424387,
+              1.0059691989882178
+            ],
+            "finger_midpoint": [
+              0.34629016450132954,
+              0.20128469877034957,
+              1.0059691989882178
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058882916384823125,
+              0.012491683173894291,
+              0.0
+            ],
+            "finger_gap": 0.02761985712756488,
+            "fingertip_max_gap": 0.0929327840618854,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013809928563782452,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0059691989882178,
+            "object_top_z": 1.0561871052682206,
+            "finger_top_clearance": 0.05021790628000278,
+            "fingertip_min_top_clearance": 0.01506537188400085,
+            "object_projection_between_fingers": 0.8181992127341732,
+            "object_to_finger_line_xy": 0.010652433608717453,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048966392030942704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.173149652045748,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "link0",
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3261017864479745,
+              0.21254719435118768,
+              0.7611112657839687
+            ],
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+              0.32747626651260325,
+              0.21074538447374283,
+              0.7774145980897915
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+            "gripper_dist": 0.21472183796028346,
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+            "gripper_away_ok": true,
+            "object_z": 0.7611112657839687,
+            "min_z": 0.5774145980897916,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18526977810538986,
+            "release_required_pad_clearance": 0.054353872473456924,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.716705737228875,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d755767135e0fc72e9e6945933068118bd9e8ddff00f1167116774d208356d26",
+    "visual_seed": 571082015897856119,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_45_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dada23bf2faaa0aa69f682998c6586297fa2c4c6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_45_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "max_source_upright_tilt_deg": 89.70844366961849,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_xy_drift": 2.3469328880310059e-07,
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+            "target_upright_reference_source": "scene_initial",
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e759d6c6fb7f315b7fbf7af20491eb3ef1d64f472e722e2f18cf011a109bfc2f",
+    "visual_seed": 7461360248117108223,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f08d7ceb544b00faa5feb4179aee5b6653bece33
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_46_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              0.004678518334996801,
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+              0.1991966161934255,
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+            "stable_success_frames": 177,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
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+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2953126383947337,
+              0.02303985777254722,
+              1.028820470456572
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28425843424595115,
+              0.04732857699752221,
+              1.028820470456572
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.28978553632034243,
+              0.035184217385034716,
+              1.028820470456572
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2953126383947337,
+              0.04732857699752221,
+              1.028820470456572
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026685900976969674,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02455345115326774,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.025716188837139168,
+              -0.9991955082991146,
+              0.030773589757563502
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005849391847230297,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037727796494795574,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2953126383947337,
+              0.02303985777254722,
+              1.028820470456572
+            ],
+            "held_grasp_finger_b": [
+              0.28425843424595115,
+              0.04732857699752221,
+              1.028820470456572
+            ],
+            "held_grasp_midpoint": [
+              0.28978553632034243,
+              0.035184217385034716,
+              1.028820470456572
+            ],
+            "held_grasp_object_position": [
+              0.2953126383947337,
+              0.04732857699752221,
+              1.028820470456572
+            ],
+            "held_grasp_finger_gap": 0.026685900976969674,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02455345115326774,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.025716188837139168,
+              -0.9991955082991146,
+              0.030773589757563502
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005849391847230297,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037727796494795574,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31421703417137337,
+              0.21476739238476777,
+              0.7611101635953704
+            ],
+            "target_position": [
+              0.32069465857021434,
+              0.20977405607669805,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.008178815643963819,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2110889582258796,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611101635953704,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543745375065496,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09174515331910436,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1830245768166336,
+            "release_required_pad_clearance": 0.055872576659552184,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.953764515059678,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c913b3af58170a64ebc2900a2d52c7d8a198dbb03618ba0859f77fe7e41cabe",
+    "visual_seed": 5237714823414427162,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ff7a1f92e77be91aaa6c121da725685856e9cbf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_47_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3501738970710644,
+              0.22105210525896407,
+              1.0051246264607512
+            ],
+            "current_z": 1.0051246264607512,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.144017880027406,
+            "gripper_z": 1.004213133160192,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3451023788001117,
+              0.21617288443086125,
+              1.004213133160192
+            ],
+            "object_minus_gripper": [
+              0.005071518270952702,
+              0.004879220828102826,
+              0.0009114933005591741
+            ],
+            "object_to_gripper_xy": 0.007037548824839477,
+            "object_to_gripper_z": 0.0009114933005591741,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3501738970710644,
+              0.19668123232856305,
+              1.0051246264607512
+            ],
+            "finger_b": [
+              0.338215771333266,
+              0.22105210525896407,
+              1.0051246264607512
+            ],
+            "finger_midpoint": [
+              0.34419483420216523,
+              0.20886666879376356,
+              1.0051246264607512
+            ],
+            "object_minus_finger_midpoint": [
+              0.005979062868899154,
+              0.012185436465200511,
+              0.0
+            ],
+            "finger_gap": 0.027146569185640183,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01357328459282008,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0051246264607512,
+            "object_top_z": 1.0551223728602817,
+            "finger_top_clearance": 0.049997746399530474,
+            "fingertip_min_top_clearance": 0.014999323919859107,
+            "object_projection_between_fingers": 0.8059577375064946,
+            "object_to_finger_line_xy": 0.010735425196779598,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048352019074857686,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4013695745374035,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3266350755095989,
+              0.21367807668601102,
+              0.7611064125073769
+            ],
+            "target_position": [
+              0.32609587466027584,
+              0.21627142354938308,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.0026488083187864784,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2155242406198992,
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+            "object_z": 0.7611064125073769,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753913635330049,
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+            "release_fingertip_min_gap": 0.08819488080183956,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18515810721592246,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2082613606188954,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b213a055669df89e225296a2e814ea5fa1d71c730d0d6c14aa69a8c779b9445",
+    "visual_seed": 136735169022304007,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7d4d0bb291bc5c0e9977feaba4fc66aeb461ba1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_48_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+            "stable_success_frames": 178,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+          }
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+      "physical_semantics": {
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b894fc9ff883b2c8da54553ecfb4463c773065a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_49_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              1.0050732997987333
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+              0.21107478419006975,
+              1.0044469714761284
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+              0.00482975964048768,
+              0.0006263283226048966
+            ],
+            "object_to_gripper_xy": 0.006942491141999224,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.19158164098379088,
+              1.0050732997987333
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+            "finger_b": [
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+              0.21590454383055743,
+              1.0050732997987333
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+            "finger_midpoint": [
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+              0.20374309240717414,
+              1.0050732997987333
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+              0.01216145142338329,
+              0.0
+            ],
+            "finger_gap": 0.02706563782025318,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.7701464494012564
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+              0.04039129310035722,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02422710202743502,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02063500140619347,
+              -0.9993349245462375,
+              0.030065017863497023
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006023801204395013,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037844688543179905,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30216504435078717,
+              0.021199593170223914,
+              1.031599802894649
+            ],
+            "held_grasp_finger_b": [
+              0.2906317528274381,
+              0.045204670898819535,
+              1.031599802894649
+            ],
+            "held_grasp_midpoint": [
+              0.29639839858911265,
+              0.03320213203452173,
+              1.031599802894649
+            ],
+            "held_grasp_object_position": [
+              0.30216504435078717,
+              0.045204670898819535,
+              1.031599802894649
+            ],
+            "held_grasp_finger_gap": 0.026631946420013566,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02422710202743502,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02063500140619347,
+              -0.9993349245462375,
+              0.030065017863497023
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006023801204395013,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037844688543179905,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.33162318232582394,
+              0.21237061400079846,
+              0.7611063369767599
+            ],
+            "target_position": [
+              0.3303250725946922,
+              0.21151076177222283,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0015570596420964207,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21694810639983672,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063369767599,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581462672303699,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08652769118032953,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18678394242508572,
+            "release_required_pad_clearance": 0.05326384559016477,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.547592776017226,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f98bc7c8a042ddd1cdd777744c5b52f7e73fd0fb7d7994274376a498371282a1",
+    "visual_seed": 875218023961020188,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3d6bcec3f9535403440cb1e82b873ad5579547c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_4_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35352516764034847,
+              0.21878450162818922,
+              1.0065758510184177
+            ],
+            "current_z": 1.0065758510184177,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1454690449804279,
+            "gripper_z": 1.0056558179148445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3483014962883626,
+              0.21393830913080553,
+              1.0056558179148445
+            ],
+            "object_minus_gripper": [
+              0.00522367135198587,
+              0.004846192497383689,
+              0.0009200331035732479
+            ],
+            "object_to_gripper_xy": 0.007125470097843078,
+            "object_to_gripper_z": 0.0009200331035732479,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35352516764034847,
+              0.19408465404103759,
+              1.0065758510184177
+            ],
+            "finger_b": [
+              0.3418911008458587,
+              0.21878450162818922,
+              1.0065758510184177
+            ],
+            "finger_midpoint": [
+              0.3477081342431036,
+              0.2064345778346134,
+              1.0065758510184177
+            ],
+            "object_minus_finger_midpoint": [
+              0.005817033397244875,
+              0.012349923793575829,
+              0.0
+            ],
+            "finger_gap": 0.027302636887435783,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013651318443717905,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0065758510184177,
+            "object_top_z": 1.056498761175228,
+            "finger_top_clearance": 0.04992291015681016,
+            "fingertip_min_top_clearance": 0.014976873047043048,
+            "object_projection_between_fingers": 0.8184258919941199,
+            "object_to_finger_line_xy": 0.01052497888124778,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048458256654821716,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5759073455018908,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3295035234134661,
+              0.21994386489079037,
+              0.761109015390653
+            ],
+            "target_position": [
+              0.32924479829691067,
+              0.21453158226873456,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005418463053942879,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2162340997653941,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761109015390653,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757868094323934,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08774905598425552,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18718940782284732,
+            "release_required_pad_clearance": 0.05387452799212776,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.750019536469477,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2be4600662d4544854086fc5d3b85a9fe18b594ab0ae9ae0b60d716fb84aa393",
+    "visual_seed": 6848380208716840380,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cba9e663f036ef1dc53708f224dcb59f7f0e03a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_50_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3510502249174279,
+              0.21821506439174063,
+              1.004982314459379
+            ],
+            "current_z": 1.004982314459379,
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+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14387562763067874,
+            "gripper_z": 1.004063946538573,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3459356768379243,
+              0.2133725989899975,
+              1.004063946538573
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+              0.004842465401743129,
+              0.000918367920806018
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+            "object_to_gripper_xy": 0.007043299881776501,
+            "object_to_gripper_z": 0.000918367920806018,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3510502249174279,
+              0.19367107003793815,
+              1.004982314459379
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+            "finger_b": [
+              0.33932435627887936,
+              0.21821506439174063,
+              1.004982314459379
+            ],
+            "finger_midpoint": [
+              0.3451872905981536,
+              0.2059430672148394,
+              1.004982314459379
+            ],
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+              0.00586293431927426,
+              0.012271997176901223,
+              0.0
+            ],
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837893657607452,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.554860635792594,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701463897966118
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+              0.036840864725538436,
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+              0.004877193450938212,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.029861077145951,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.25662037661077,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.869822865381547,
+            "max_source_tilt_deg": 89.92178638675088,
+            "source_upright_tilt_deg": 2.3295255802249817,
+            "max_source_upright_tilt_deg": 89.90709998904495,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.869822865381547,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.003425057343598e-08,
+            "max_target_xy_drift": 1.2665987013545997e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0489,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0489,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.0004459939369866094,
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+              "source_pose_feedback": true,
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+              "source_return_upright_error_deg": 2.3294912443807636,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6109223365783691
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2832,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0002
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+              0.0247,
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+            "pour_controller_controller_t": 0.0,
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+              0.3,
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+            "pour_controller_height_range_2": [
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+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
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+              "approach_xy_threshold_m": 0.08,
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+                0.0004459939369866094,
+                0.0010378782361749402,
+                0.00017987758295841825
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.3294912443807636,
+            "pour_controller_source_return_step_error_deg": 1.869786868193877,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.326042608223169,
+            "pour_controller_source_return_best_wrist_position": -1.6109223365783691,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6109223365783691,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013593247925035428,
+            "valid_pour_held_xy_dist": 0.013480930953847692,
+            "valid_pour_held_gripper_dist": 0.007105261320327246,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0307408658620956,
+            "valid_pour_source_tilt_deg": 1.869822865381547,
+            "valid_pour_source_upright_tilt_deg": 2.3295255802249817,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.003425057343598e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2946419385791989,
+              0.017613674740311412,
+              1.0307408658620956
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28306488218977066,
+              0.04171805817647665,
+              1.0307408658620956
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.28885341038448475,
+              0.02966586645839403,
+              1.0307408658620956
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2946419385791989,
+              0.04171805817647665,
+              1.0307408658620956
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026740410159189373,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02442061117213655,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.029035692973554444,
+              -0.9991735893621837,
+              0.028444100524288467
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006145466788196746,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03784609233888775,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2946419385791989,
+              0.017613674740311412,
+              1.0307408658620956
+            ],
+            "held_grasp_finger_b": [
+              0.28306488218977066,
+              0.04171805817647665,
+              1.0307408658620956
+            ],
+            "held_grasp_midpoint": [
+              0.28885341038448475,
+              0.02966586645839403,
+              1.0307408658620956
+            ],
+            "held_grasp_object_position": [
+              0.2946419385791989,
+              0.04171805817647665,
+              1.0307408658620956
+            ],
+            "held_grasp_finger_gap": 0.026740410159189373,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02442061117213655,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.029035692973554444,
+              -0.9991735893621837,
+              0.028444100524288467
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006145466788196746,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03784609233888775,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32758304445466613,
+              0.2124173899500753,
+              0.761106427936955
+            ],
+            "target_position": [
+              0.3269020050384957,
+              0.21570155161026713,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003354032274241213,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21456002516146394,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106427936955,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534140945727837,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08849566666349067,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18440534882812645,
+            "release_required_pad_clearance": 0.054247833331745335,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5140516941125113,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 198,
+            "max_placed_release_frames": 198
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1630356ba0f9ca6d47cb437af918efb220904b9ded289e5d6f5bb25d7eb4f671",
+    "visual_seed": 4481991239513214050,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6211e201564a854101b2b8fe66493dbf966bf8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_51_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29971477348618075,
+              0.017474322482904817,
+              1.0304811916019738
+            ],
+            "held_grasp_finger_b": [
+              0.28868311322017337,
+              0.04185327338001131,
+              1.0304811916019738
+            ],
+            "held_grasp_midpoint": [
+              0.2941989433531771,
+              0.029663797931458062,
+              1.0304811916019738
+            ],
+            "held_grasp_object_position": [
+              0.29971477348618075,
+              0.04185327338001131,
+              1.0304811916019738
+            ],
+            "held_grasp_finger_gap": 0.026758751373487807,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024461747187950394,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.008544418776803007,
+              -0.9995298060888401,
+              0.029447574565189653
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0056311884182041,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03758363560123605,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3303046235387423,
+              0.21400176988033842,
+              0.761106488427643
+            ],
+            "target_position": [
+              0.32998691444216127,
+              0.21762752910408173,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0036396523211166755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21566893858008812,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106488427643,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568908640611852,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671466881597305,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18463542423927107,
+            "release_required_pad_clearance": 0.053357334407986526,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7309430233959429,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c3b50e98918423f1feded8bc7a3560f7ecd67b2d22c81a7c748041ebc83c9b1",
+    "visual_seed": 2052841103599617073,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9c3c0d9061adfa008b15d92b4c38135e10630c3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_52_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34730475683718864,
+              0.21653739620341744,
+              1.0039972737405902
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+            "current_z": 1.0039972737405902,
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+            "lift_margin": 0.1428906465165346,
+            "gripper_z": 1.0036654107027827,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3420696422890859,
+              0.2115334144615172,
+              1.0036654107027827
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+              0.0052351145481027705,
+              0.005003981741900254,
+              0.0003318630378075227
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+            "object_to_gripper_z": 0.0003318630378075227,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.34730475683718864,
+              0.19202879075205864,
+              1.0039972737405902
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+            "finger_b": [
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+              0.21653739620341744,
+              1.0039972737405902
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+            "finger_midpoint": [
+              0.3412493883260866,
+              0.20428309347773804,
+              1.0039972737405902
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+              0.006055368511102055,
+              0.0122543027256794,
+              0.0
+            ],
+            "finger_gap": 0.02733755095818496,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010857493264717483,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048254008549592234,
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+            "object_tilt_deg": 1.457599918949705,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 177,
+            "max_stable_success_frames": 177,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08842021957250333,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18123662538100002,
+            "release_required_pad_clearance": 0.05421010978625167,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.43611114591653,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "794727bd8045a10382ae80b3a3d5c837868c2c462b3ffa5ab42936f004f3a688",
+    "visual_seed": 6278632625108550867,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3717acc9cb71ebd780b2524e49bea58945199dc5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_53_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3546180992056435,
+              0.21606934346822215,
+              1.0035759911361968
+            ],
+            "current_z": 1.0035759911361968,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14246948312143093,
+            "gripper_z": 1.00297554555536,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3495496125113927,
+              0.2112633840413327,
+              1.00297554555536
+            ],
+            "object_minus_gripper": [
+              0.005068486694250807,
+              0.004805959426889439,
+              0.0006004455808368281
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+            "object_to_gripper_xy": 0.00698475506962878,
+            "object_to_gripper_z": 0.0006004455808368281,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3546180992056435,
+              0.1914962628798806,
+              1.0035759911361968
+            ],
+            "finger_b": [
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+              0.21606934346822215,
+              1.0035759911361968
+            ],
+            "finger_midpoint": [
+              0.3488240561202769,
+              0.2037828031740514,
+              1.0035759911361968
+            ],
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+              0.005794043085366629,
+              0.012286540294170756,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8180733003916413,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840256255505525,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 177,
+            "max_stable_success_frames": 177,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04738889154665924,
+              0.7701464494012564
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+            "gripper_position": [
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+              0.03305612743885132,
+              1.0301398122418957
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+              0.004871608115457879,
+              0.0005613946085825106
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+            "max_held_gripper_dist": 0.007017135444807593,
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+            "target_z": 0.7701464494012564,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.26804045290304,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.86111085226615,
+            "source_upright_tilt_deg": 2.755121666972182,
+            "max_source_upright_tilt_deg": 89.94731798257608,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9901370980886282,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.679882693323606e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.7701
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+              "controller_target_position": [
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+                0.7701
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+              "controller_target_minus_raw_target": [
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+                -0.0,
+                0.0
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              0.2811,
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+            "pour_controller_controller_event": 6,
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+              0.0603,
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
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+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
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+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                7.894126952042281e-05,
+                -0.0014191802006139804,
+                0.00029188724701393774
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_step_error_deg": 1.990130827787312,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.753191411231401,
+            "pour_controller_source_return_best_wrist_position": -1.6118240356445312,
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+            "pour_controller_wrist_compensated_return_position": -1.6118240356445312,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.015598979618351988,
+            "valid_pour_held_xy_dist": 0.014636525204398516,
+            "valid_pour_held_gripper_dist": 0.0070114513385652,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.0307012068504782,
+            "valid_pour_source_tilt_deg": 1.9901370980886282,
+            "valid_pour_source_upright_tilt_deg": 2.755121666972182,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.679882693323606e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2922369690579282,
+              0.013940342455995673,
+              1.0307012068504782
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.280618796408424,
+              0.0379277355543092,
+              1.0307012068504782
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2864278827331761,
+              0.025934039005152437,
+              1.0307012068504782
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2922369690579282,
+              0.0379277355543092,
+              1.0307012068504782
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026652897841823987,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024417800508186163,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03943257052056419,
+              -0.9988441010519407,
+              0.027486981934751402
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006285995782176003,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03796948422832364,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2922369690579282,
+              0.013940342455995673,
+              1.0307012068504782
+            ],
+            "held_grasp_finger_b": [
+              0.280618796408424,
+              0.0379277355543092,
+              1.0307012068504782
+            ],
+            "held_grasp_midpoint": [
+              0.2864278827331761,
+              0.025934039005152437,
+              1.0307012068504782
+            ],
+            "held_grasp_object_position": [
+              0.2922369690579282,
+              0.0379277355543092,
+              1.0307012068504782
+            ],
+            "held_grasp_finger_gap": 0.026652897841823987,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024417800508186163,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03943257052056419,
+              -0.9988441010519407,
+              0.027486981934751402
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006285995782176003,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03796948422832364,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31772766519841555,
+              0.21442339049753284,
+              0.7611068835998603
+            ],
+            "target_position": [
+              0.33055346792800394,
+              0.212457926911129,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.012975525529542007,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20776486338843386,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611068835998603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575216091584668,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561413736584227,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17900482360942555,
+            "release_required_pad_clearance": 0.052807068682921135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6596757556459485,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d153088c257a1392814cdd2b8daa967752ae47f4ead364c5e88c18f05e2df405",
+    "visual_seed": 4597100029863835267,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e705cd41f8cfd2f611c087f9812190eec6bb0e9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_54_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35164659587569225,
+              0.21565282225616947,
+              1.0062306922943733
+            ],
+            "current_z": 1.0062306922943733,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.14512430348889716,
+            "gripper_z": 1.0055305933085807,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34691398587137545,
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+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024311134728982352,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03090294582603737,
+              -0.9992634020583726,
+              0.02275217013826325
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005957518757297566,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03790977224390807,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32594678163966795,
+              0.21313855065820972,
+              0.761107015854408
+            ],
+            "target_position": [
+              0.3278103013156062,
+              0.21464302105979277,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.002395023334301442,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21410296343602095,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761107015854408,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549401920241891,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599762954906746,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18438606284758613,
+            "release_required_pad_clearance": 0.052998814774533734,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0294452086948787,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "042fcefa28392da37e85a6f1dfd5356af20813a2d465d58bfb008c305a07160b",
+    "visual_seed": 6443924355391789927,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf8d3e41aaee1506ff276a4622c74aa15bdfb1f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_55_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
+              0.35255195925282273,
+              0.21817628102083145,
+              1.0050113402267467
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+              0.2133702852068598,
+              1.003862505459247
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+              0.0048059958139716474,
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+              0.35255195925282273,
+              0.19332078026458072,
+              1.0050113402267467
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+              1.0050113402267467
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+              0.3467686957246967,
+              0.2057485306427061,
+              1.0050113402267467
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+              0.005783263528126026,
+              0.012427750378125352,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.9455137149349836,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.28326801574294025,
+              0.0533827793287561,
+              0.7701463897966117
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+            "gripper_position": [
+              0.29020410490832166,
+              0.040544172741690004,
+              1.031089349629117
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+            "target_minus_gripper": [
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+              0.012838606587066093,
+              -0.26094295983250526
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+            "held_position": [
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+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8319d0788be0dd646729de8804165759f109b8874bd5f45a97a84e3c1478097c",
+    "visual_seed": 8342762875631102806,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8950460f27e098349cf4c6459361e3c112ab8b04
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_56_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.34912381155957356,
+              0.22112778641416542,
+              1.0039688625704035
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+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.14286211613705835,
+            "gripper_z": 1.0029386128245064,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21642840631354027,
+              1.0029386128245064
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+              0.00469938010062515,
+              0.0010302497458971605
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+            "object_to_gripper_z": 0.0010302497458971605,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.34912381155957356,
+              0.19644297035826583,
+              1.0039688625704035
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+              0.22112778641416542,
+              1.0039688625704035
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+              0.20878537838621564,
+              1.0039688625704035
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+              0.01234240802794978,
+              0.0
+            ],
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+            "finger_midpoint_minus_object_z": 0.0,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701463897966117
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+              0.03960435969822944,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.24689418723267,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.7147602087005,
+            "source_upright_tilt_deg": 2.1937000382799217,
+            "max_source_upright_tilt_deg": 89.93635215866044,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 5.960464477539063e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+              0.4
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.00022360425293277593,
+                -0.001454938243928635
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.1937077112526615,
+            "pour_controller_source_return_step_error_deg": 1.8213873747231741,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.188909824729204,
+            "pour_controller_source_return_best_wrist_position": -1.609553575515747,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.609553575515747,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014172187713509001,
+            "valid_pour_held_xy_dist": 0.013878455424650623,
+            "valid_pour_held_gripper_dist": 0.006978059308847223,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0294977392096931,
+            "valid_pour_source_tilt_deg": 1.8213669577559954,
+            "valid_pour_source_upright_tilt_deg": 2.1937000382799217,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.960464477539063e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2973576652736677,
+              0.020059786152538426,
+              1.0294977392096931
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2862197912796286,
+              0.0443366147446357,
+              1.0294977392096931
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29178872827664815,
+              0.03219820044858706,
+              1.0294977392096931
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2973576652736677,
+              0.0443366147446357,
+              1.0294977392096931
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026709860418900805,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02449752643913307,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.021412467920869933,
+              -0.9992671397542409,
+              0.031728372553855855
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005840161209093327,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037709976220132585,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2973576652736677,
+              0.020059786152538426,
+              1.0294977392096931
+            ],
+            "held_grasp_finger_b": [
+              0.2862197912796286,
+              0.0443366147446357,
+              1.0294977392096931
+            ],
+            "held_grasp_midpoint": [
+              0.29178872827664815,
+              0.03219820044858706,
+              1.0294977392096931
+            ],
+            "held_grasp_object_position": [
+              0.2973576652736677,
+              0.0443366147446357,
+              1.0294977392096931
+            ],
+            "held_grasp_finger_gap": 0.026709860418900805,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02449752643913307,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.021412467920869933,
+              -0.9992671397542409,
+              0.031728372553855855
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005840161209093327,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037709976220132585,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3225813851116007,
+              0.21792369161261244,
+              0.7611065654412968
+            ],
+            "target_position": [
+              0.32499696065235184,
+              0.21841795473644338,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.002465623902515174,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21413144706007214,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065654412968,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756364469539022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08842249294133435,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1844811435719716,
+            "release_required_pad_clearance": 0.054211246470667177,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.439071531454669,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb178ae70b5031536121283c72d4fc032f7edd72c426608ce9943e5470d44aa4",
+    "visual_seed": 7777216792150837216,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab4f7b5844bfcb6cbc764e351339ce2f63be5d5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_57_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35405138218766985,
+              0.21927473064734723,
+              1.006332354133626
+            ],
+            "current_z": 1.006332354133626,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.1452258461188598,
+            "gripper_z": 1.0050286234642145,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34864953645836394,
+              0.21437438980055606,
+              1.0050286234642145
+            ],
+            "object_minus_gripper": [
+              0.00540184572930591,
+              0.004900340846791168,
+              0.0013037306694114736
+            ],
+            "object_to_gripper_xy": 0.007293372176020533,
+            "object_to_gripper_z": 0.0013037306694114736,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35405138218766985,
+              0.19439625636391017,
+              1.006332354133626
+            ],
+            "finger_b": [
+              0.3424108643450516,
+              0.21927473064734723,
+              1.006332354133626
+            ],
+            "finger_midpoint": [
+              0.34823112326636074,
+              0.2068354935056287,
+              1.006332354133626
+            ],
+            "object_minus_finger_midpoint": [
+              0.005820258921309107,
+              0.012439237141718545,
+              0.0
+            ],
+            "finger_gap": 0.027467073712282377,
+            "fingertip_max_gap": 0.09105303002085516,
+            "finger_z_skew": 0.0,
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3284497458660803,
+              0.21205113231904252,
+              0.7611072960903212
+            ],
+            "target_position": [
+              0.32964310754932197,
+              0.21537750166285605,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003533956015358975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21693282500913963,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611072960903212,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523174735575626,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586651653316178,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18702441103734563,
+            "release_required_pad_clearance": 0.05293325826658089,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9030827589540884,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41ac47d9b04c74747844a2fce43a058f11fe9d615be1c06bad376f896793d5f1",
+    "visual_seed": 433861828056587273,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9d2c15a7b1cbeb80e6376f21470b0519daef476
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_58_success.json
@@ -0,0 +1,1037 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0054682968849105
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+              1.0054682968849105
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+              0.1993853391520327,
+              1.0054682968849105
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+              1.0
+            ],
+            "stable_success_frames": 178,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_c"
+              }
+            ],
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+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f8cbdc9f0d0a53253ead8af79d88f3464a5cc56dbac05432c335a8314143af3",
+    "visual_seed": 8384238052801963198,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8990d0d86381b0a9f41fc5d50b8792ab39dabf2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_59_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3509623921371992,
+              0.2127941789190871,
+              1.0053845807447988
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+            "lift_margin": 0.1442778939160987,
+            "gripper_z": 1.004977458522921,
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+            "gripper_position": [
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+              0.20789271606689635,
+              1.004977458522921
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+              0.004901462852190758,
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+            "object_to_gripper_z": 0.0004071222218777759,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3509623921371992,
+              0.18833708017348041,
+              1.0053845807447988
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+            "finger_b": [
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+              0.2127941789190871,
+              1.0053845807447988
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+            "finger_midpoint": [
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+              0.20056562954628376,
+              1.0053845807447988
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+              0.012228549372803349,
+              0.0
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.01073820196447592,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819758398021405,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+          }
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05053697419040657,
+              0.7701463301919672
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+              0.03952632181123428,
+              1.0289652970023369
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004765995390390999,
+              0.0003671512425658108
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+            "missing_held_position_samples": 0,
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+            "target_z": 0.7701463301919672,
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+            "gripper_z": 1.0289652970023369,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23981128106337,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.063636667144461,
+            "max_source_tilt_deg": 89.98300388832513,
+            "source_upright_tilt_deg": 1.716932964817917,
+            "max_source_upright_tilt_deg": 89.79122607754297,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.063636667144461,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.842877388000488e-08,
+            "max_target_xy_drift": 1.228781230931777e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
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+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0505,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0505,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+              "wrist_compensated_return_position": -1.6108072996139526
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_pour_target_offset": null,
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.3,
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0015008380768263717,
+                0.0015978353798696359,
+                -0.0009154495167527147
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.7169427738535958,
+            "pour_controller_source_return_step_error_deg": 2.063655644193834,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.0552341322441485,
+            "pour_controller_source_return_best_wrist_position": -1.6108072996139526,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6108072996139526,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01312783174726187,
+            "valid_pour_held_xy_dist": 0.01390940956284025,
+            "valid_pour_held_gripper_dist": 0.007122370506127938,
+            "valid_pour_required_height": 0.8001463301919672,
+            "valid_pour_held_z": 1.0293324482449027,
+            "valid_pour_source_tilt_deg": 2.063636667144461,
+            "valid_pour_source_upright_tilt_deg": 1.716932964817917,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.842877388000488e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2957155961632358,
+              0.019842022554407018,
+              1.0293324482449027
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2845797039076414,
+              0.04429231720162528,
+              1.0293324482449027
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29014765003543863,
+              0.032067169878016145,
+              1.0293324482449027
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2957155961632358,
+              0.04429231720162528,
+              1.0293324482449027
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026866801161731114,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024397018887470173,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0037984356064104836,
+              -0.999551056940063,
+              0.02971963083463902
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005533431173578598,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03747944165670718,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2957155961632358,
+              0.019842022554407018,
+              1.0293324482449027
+            ],
+            "held_grasp_finger_b": [
+              0.2845797039076414,
+              0.04429231720162528,
+              1.0293324482449027
+            ],
+            "held_grasp_midpoint": [
+              0.29014765003543863,
+              0.032067169878016145,
+              1.0293324482449027
+            ],
+            "held_grasp_object_position": [
+              0.2957155961632358,
+              0.04429231720162528,
+              1.0293324482449027
+            ],
+            "held_grasp_finger_gap": 0.026866801161731114,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024397018887470173,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0037984356064104836,
+              -0.999551056940063,
+              0.02971963083463902
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005533431173578598,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03747944165670718,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31836963648330874,
+              0.21676652385576262,
+              0.7611217582857616
+            ],
+            "target_position": [
+              0.3268015893421239,
+              0.21143265278074852,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009977374888123279,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20860672396456462,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611217582857616,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532250061806499,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08789964232065799,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1810083592176128,
+            "release_required_pad_clearance": 0.053949821160328995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.852623356322539,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0dd89e959cf5a6010d08634c64adc1994d8e1f05bbc1e00416d991ef8bd693f7",
+    "visual_seed": 2870624431632457849,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4ab4836504c43f4b42e7f9b6e53c4ca6f53c287
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_5_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3543823432981256,
+              0.21909279429635148,
+              1.0063344722089598
+            ],
+            "current_z": 1.0063344722089598,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.1452279641941936,
+            "gripper_z": 1.0053532022244966,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34915961227859493,
+              0.21421902750686816,
+              1.0053532022244966
+            ],
+            "object_minus_gripper": [
+              0.005222731019530691,
+              0.004873766789483314,
+              0.000981269984463129
+            ],
+            "object_to_gripper_xy": 0.0071435650777912415,
+            "object_to_gripper_z": 0.000981269984463129,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3543823432981256,
+              0.19439479785449743,
+              1.0063344722089598
+            ],
+            "finger_b": [
+              0.34272044039107485,
+              0.21909279429635148,
+              1.0063344722089598
+            ],
+            "finger_midpoint": [
+              0.34855139184460027,
+              0.20674379607542445,
+              1.0063344722089598
+            ],
+            "object_minus_finger_midpoint": [
+              0.005830951453525357,
+              0.012348998220927027,
+              0.0
+            ],
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3276436657311274,
+              0.21887616821613942,
+              0.7611078813888829
+            ],
+            "target_position": [
+              0.33019718207387566,
+              0.2158923004018352,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.0039273289709321505,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21287693707427124,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611078813888829,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561244946648148,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498932568394883,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18398976804121966,
+            "release_required_pad_clearance": 0.05249466284197442,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.055778342980476965,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 198,
+            "max_placed_release_frames": 198
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "606939256931e864e488c4109a194fdf6f1a6b5588c4d937280620679a825c1c",
+    "visual_seed": 5869960284864470012,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b9dbec1e0b4627c43a547f83397d9ae6e32b2b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_60_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.006270998391944
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+            "stable_success_frames": 179,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+              "source_missing": false,
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+          }
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "xy_threshold": 0.15,
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+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c571114e8538a366a01a5e00b2a4a8e5251b317916e6928a3beae637f38dba91",
+    "visual_seed": 3117540056170348362,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..16e1fbf3a583b165521152a30b955fd3f316b02f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_61_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3472748507585912,
+              0.2161631553758988,
+              1.0050324959829013
+            ],
+            "current_z": 1.0050324959829013,
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+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14392604757278016,
+            "gripper_z": 1.0047560250918952,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3420669112186217,
+              0.21121489151652995,
+              1.0047560250918952
+            ],
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+              0.004948263859368862,
+              0.00027647089100613087
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+            "object_to_gripper_xy": 0.007183867306257392,
+            "object_to_gripper_z": 0.00027647089100613087,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3472748507585912,
+              0.1916357242693827,
+              1.0050324959829013
+            ],
+            "finger_b": [
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+              0.2161631553758988,
+              1.0050324959829013
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+            "finger_midpoint": [
+              0.34126151834658547,
+              0.20389943982264075,
+              1.0050324959829013
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+              0.012263715553258059,
+              0.0
+            ],
+            "finger_gap": 0.027317312156835815,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010798397412546585,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887454673787557,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.052912401823930505,
+              0.7701463897966115
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+              0.03905454517523528,
+              1.0304788754742555
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+            "held_minus_gripper": [
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+              0.004914788823226088,
+              0.00023649648237844545
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+            "max_held_gripper_dist": 0.007192930143543323,
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+            "gripper_z": 1.0304788754742555,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23337724286522,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.97637324634073,
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+            "max_source_upright_tilt_deg": 89.92808189536484,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.244724472701628e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.0529,
+                0.7701
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+              "controller_target_position": [
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+                0.7701
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+              "controller_target_minus_raw_target": [
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+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_pour_pose_offset": [
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+              0.4
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+              0.2,
+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
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+                0.0014555415791754627
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+            },
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.444245048386757,
+            "pour_controller_source_return_best_wrist_position": -1.6063882112503052,
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+            "pour_controller_wrist_compensated_return_position": -1.6063882112503052,
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.015773871353088463,
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+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.030715371956634,
+            "valid_pour_source_tilt_deg": 1.6119652581021513,
+            "valid_pour_source_upright_tilt_deg": 2.457028344346752,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.244724472701628e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.30315926674425286,
+              0.019698765048570734,
+              1.030715371956634
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2914347565876651,
+              0.04396933399846137,
+              1.030715371956634
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.297297011665959,
+              0.03183404952351605,
+              1.030715371956634
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.30315926674425286,
+              0.04396933399846137,
+              1.030715371956634
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02695412130942734,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024576554598078667,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02800103885936313,
+              -0.999080663648238,
+              0.032461813673803956
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006212090643916989,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037760271235557336,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30315926674425286,
+              0.019698765048570734,
+              1.030715371956634
+            ],
+            "held_grasp_finger_b": [
+              0.2914347565876651,
+              0.04396933399846137,
+              1.030715371956634
+            ],
+            "held_grasp_midpoint": [
+              0.297297011665959,
+              0.03183404952351605,
+              1.030715371956634
+            ],
+            "held_grasp_object_position": [
+              0.30315926674425286,
+              0.04396933399846137,
+              1.030715371956634
+            ],
+            "held_grasp_finger_gap": 0.02695412130942734,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024576554598078667,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02800103885936313,
+              -0.999080663648238,
+              0.032461813673803956
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006212090643916989,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037760271235557336,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3190133276108107,
+              0.21717103606887098,
+              0.7611067559460867
+            ],
+            "target_position": [
+              0.32268481345658334,
+              0.21531061087980566,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004115943415526703,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21266922920196113,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611067559460867,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546266700442934,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655633213031881,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18360798852904195,
+            "release_required_pad_clearance": 0.05327816606515941,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.575660654685977,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9854c880420b3d16b53442421d1b7a13a0f1b9766478afa3b5bcd5d6a29c9558",
+    "visual_seed": 6977622149171093662,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..905ab76df646def1371504b08ef7e51f9e4b4d2c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_62_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35397482028432525,
+              0.21612650328177144,
+              1.0040021220166628
+            ],
+            "current_z": 1.0040021220166628,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14289567360654176,
+            "gripper_z": 1.0033991792470232,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34890327324879933,
+              0.2112368582866268,
+              1.0033991792470232
+            ],
+            "object_minus_gripper": [
+              0.005071547035525925,
+              0.004889644995144632,
+              0.0006029427696396805
+            ],
+            "object_to_gripper_xy": 0.007044800743249928,
+            "object_to_gripper_z": 0.0006029427696396805,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35397482028432525,
+              0.1917757141223825,
+              1.0040021220166628
+            ],
+            "finger_b": [
+              0.3419766688474691,
+              0.21612650328177144,
+              1.0040021220166628
+            ],
+            "finger_midpoint": [
+              0.3479757445658972,
+              0.20395110870207697,
+              1.0040021220166628
+            ],
+            "object_minus_finger_midpoint": [
+              0.00599907571842806,
+              0.012175394579694465,
+              0.0
+            ],
+            "finger_gap": 0.027146207296540475,
+            "fingertip_max_gap": 0.09145572967508983,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013573103648270225,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0040021220166628,
+            "object_top_z": 1.0538391830576928,
+            "finger_top_clearance": 0.04983706104102992,
+            "fingertip_min_top_clearance": 0.014951118312308958,
+            "object_projection_between_fingers": 0.8046513762241584,
+            "object_to_finger_line_xy": 0.010762625244467871,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822786483754492,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4094681785757264,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3308951071818233,
+              0.2119512121503093,
+              0.7611064187788025
+            ],
+            "target_position": [
+              0.3298969922888034,
+              0.21348819993014537,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.0018326387464619154,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21788227035891358,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064187788025,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757273376027706,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862313259844426,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18717065785868534,
+            "release_required_pad_clearance": 0.0531156629922213,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.258013888274809,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b677d9e6c2cba6473fc636ae3e0d834b60b523bcb7dd838c53872bd5e8df01e",
+    "visual_seed": 72380445956345834,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc1652cca8fd92591d313f77e38d2ae66f5a0f4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_63_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+            "stable_success_frames": 180,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "max_source_tilt_deg": 89.69362880234306,
+            "source_upright_tilt_deg": 1.7460709025678944,
+            "max_source_upright_tilt_deg": 89.94416988755046,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+                "gripper",
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+                "panda_rightfingertip",
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+                "rizon4",
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+                "robotiq_2f85",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0f0733684942b8592f37433c2867d44ae0828934313b219438e35aa0b2680e0",
+    "visual_seed": 6129042562004543404,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e26ea5885998bf05f4616ecc844b93e9b633d295
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_64_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              0.012365219621964907,
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
+          "safety": {
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+                "beaker_a"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
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+          "metrics": {
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+            "held": "beaker_a",
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+            "missing_end_effector_orientation_samples": 0,
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014202165139426738,
+            "valid_pour_held_xy_dist": 0.013010376389526814,
+            "valid_pour_held_gripper_dist": 0.007088029620140453,
+            "valid_pour_required_height": 0.8001462705873221,
+            "valid_pour_held_z": 1.0307661836359343,
+            "valid_pour_source_tilt_deg": 1.8736194066528733,
+            "valid_pour_source_upright_tilt_deg": 2.2816721530764585,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.450580596923828e-09,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29751791012933165,
+              0.0188963535563623,
+              1.0307661836359343
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2861623472380498,
+              0.04316220056675941,
+              1.0307661836359343
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2918401286836907,
+              0.031029277061560855,
+              1.0307661836359343
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29751791012933165,
+              0.04316220056675941,
+              1.0307661836359343
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026791419143260328,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024536632252574898,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02554020988570629,
+              -0.9992071895356612,
+              0.030539974774700166
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005997127622368341,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03774195740342129,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29751791012933165,
+              0.0188963535563623,
+              1.0307661836359343
+            ],
+            "held_grasp_finger_b": [
+              0.2861623472380498,
+              0.04316220056675941,
+              1.0307661836359343
+            ],
+            "held_grasp_midpoint": [
+              0.2918401286836907,
+              0.031029277061560855,
+              1.0307661836359343
+            ],
+            "held_grasp_object_position": [
+              0.29751791012933165,
+              0.04316220056675941,
+              1.0307661836359343
+            ],
+            "held_grasp_finger_gap": 0.026791419143260328,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024536632252574898,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02554020988570629,
+              -0.9992071895356612,
+              0.030539974774700166
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005997127622368341,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03774195740342129,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3205972013011513,
+              0.21340271622451007,
+              0.761110503470429
+            ],
+            "target_position": [
+              0.3269687340984338,
+              0.2119615624085897,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006532484558572493,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2088587796143246,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761110503470429,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572821901986382,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0892143930906013,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17966665607519708,
+            "release_required_pad_clearance": 0.05460719654530065,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.240121709312411,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 197,
+            "max_placed_release_frames": 197
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d486945b36a2006fcb51319208a68bfb6a9ca4f42520b65f84414cfa5c855b33",
+    "visual_seed": 8171717934553102698,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..855c009fb8524031e2eb597d56a8fecb24f5f2d1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_65_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35281603688953794,
+              0.2144659957076483,
+              1.004886880385298
+            ],
+            "current_z": 1.004886880385298,
+            "required_z": 0.8611063292008316,
+            "initial_z": 0.7611063292008317,
+            "lift_margin": 0.1437805511844663,
+            "gripper_z": 1.004394013691893,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3476887449191657,
+              0.20963393875079928,
+              1.004394013691893
+            ],
+            "object_minus_gripper": [
+              0.005127291970372261,
+              0.004832056956849018,
+              0.0004928666934049808
+            ],
+            "object_to_gripper_xy": 0.007045416764370782,
+            "object_to_gripper_z": 0.0004928666934049808,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35281603688953794,
+              0.1898923548773798,
+              1.004886880385298
+            ],
+            "finger_b": [
+              0.3411342503701341,
+              0.2144659957076483,
+              1.004886880385298
+            ],
+            "finger_midpoint": [
+              0.34697514362983606,
+              0.20217917529251406,
+              1.004886880385298
+            ],
+            "object_minus_finger_midpoint": [
+              0.005840893259701885,
+              0.012286820415134236,
+              0.0
+            ],
+            "finger_gap": 0.02720896837331331,
+            "fingertip_max_gap": 0.0918160304347315,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013604484186656631,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.004886880385298,
+            "object_top_z": 1.054857786587315,
+            "finger_top_clearance": 0.04997090620201705,
+            "fingertip_min_top_clearance": 0.01499127186060508,
+            "object_projection_between_fingers": 0.815670697759421,
+            "object_to_finger_line_xy": 0.010550345836163924,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840801521736575,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5474841853024972,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
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+                "left_inner_finger",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3251220214965818,
+              0.2109021295878069,
+              0.7611063319488155
+            ],
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+              0.32868817098239705,
+              0.21098435733057203,
+              0.7774145980897915
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+            "xy_threshold": 0.08,
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+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08628743865830855,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18555430477019852,
+            "release_required_pad_clearance": 0.05314371932915428,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3128155508686654,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 201,
+            "max_placed_release_frames": 201
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5140838801e6dad8dc4bdaff84dda0a47611ecd1013ef3c14dd8d9da814c0c79",
+    "visual_seed": 6332955946305104124,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8795320481ab9f48196e75753958bd9f3d63112
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_66_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+                "gripper",
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+                "joint1",
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+                "panda_joint4",
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+                "panda_rightfinger",
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+                "ur5e",
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+                "wrist_2_joint",
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+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d7928b4f3290b12c7ee2a9cfd3291cbf746261278f7d63a0b34f67e39f270d4",
+    "visual_seed": 5367641629983317695,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf5c96590a2e8c2dedd5fe05e1e18ca6af33758
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_67_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.003845313549692
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+              1.003845313549692
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+              0.20755171556964291,
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+              "allowed_objects": [
+                "beaker_a"
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "valid_pour_pose_frames": 0,
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29136292377728434,
+              0.01310391948245174,
+              1.0299593675747147
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2798337914411792,
+              0.03739456535634699,
+              1.0299593675747147
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2855983576092318,
+              0.025249242419399368,
+              1.0299593675747147
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29136292377728434,
+              0.03739456535634699,
+              1.0299593675747147
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026887847987416353,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.0245722755502425,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.026130986120017814,
+              -0.9991915439052006,
+              0.03055208917140051
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006091139397797058,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037735379892024426,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29136292377728434,
+              0.01310391948245174,
+              1.0299593675747147
+            ],
+            "held_grasp_finger_b": [
+              0.2798337914411792,
+              0.03739456535634699,
+              1.0299593675747147
+            ],
+            "held_grasp_midpoint": [
+              0.2855983576092318,
+              0.025249242419399368,
+              1.0299593675747147
+            ],
+            "held_grasp_object_position": [
+              0.29136292377728434,
+              0.03739456535634699,
+              1.0299593675747147
+            ],
+            "held_grasp_finger_gap": 0.026887847987416353,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0245722755502425,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.026130986120017814,
+              -0.9991915439052006,
+              0.03055208917140051
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006091139397797058,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037735379892024426,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.320289759548612,
+              0.21833276299344614,
+              0.7611064938096397
+            ],
+            "target_position": [
+              0.3253499332176267,
+              0.21577407448165123,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005670294918342498,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.212110409746622,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064938096397,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582666170559227,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543463001572303,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18276488584141604,
+            "release_required_pad_clearance": 0.05271731500786152,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.48778651018480695,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7b497908e7e30a2fe41a86d960fab75a598c428eef3574001ec935a1ded6577",
+    "visual_seed": 3223313608594914556,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f82630df8d0d67ace50bfc308ca0c510132e59d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_68_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3500199790601605,
+              0.22016871178846148,
+              1.0057902838250308
+            ],
+            "current_z": 1.0057902838250308,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1446837758102647,
+            "gripper_z": 1.0050563016745473,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34489215394991596,
+              0.2152595673099499,
+              1.0050563016745473
+            ],
+            "object_minus_gripper": [
+              0.005127825110244566,
+              0.004909144478511568,
+              0.0007339821504834809
+            ],
+            "object_to_gripper_xy": 0.007098893566757802,
+            "object_to_gripper_z": 0.0007339821504834809,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3500199790601605,
+              0.19573708393854022,
+              1.0057902838250308
+            ],
+            "finger_b": [
+              0.33802955839274945,
+              0.22016871178846148,
+              1.0057902838250308
+            ],
+            "finger_midpoint": [
+              0.344024768726455,
+              0.20795289786350085,
+              1.0057902838250308
+            ],
+            "object_minus_finger_midpoint": [
+              0.005995210333705536,
+              0.012215813924960628,
+              0.0
+            ],
+            "finger_gap": 0.027215338086794487,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013607669043397243,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0057902838250308,
+            "object_top_z": 1.0557293994794716,
+            "finger_top_clearance": 0.04993911565444087,
+            "fingertip_min_top_clearance": 0.014981734696332226,
+            "object_projection_between_fingers": 0.8058929217959759,
+            "object_to_finger_line_xy": 0.010763985168067272,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835281098149537,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2457938169971656,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3117667058608558,
+              0.2256766230056544,
+              0.7611065332266234
+            ],
+            "target_position": [
+              0.3257541602617685,
+              0.21729424867097744,
+              0.7774145980897915
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2080995242183999,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065332266234,
+            "min_z": 0.5774145980897916,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1819348625757337,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.9656114918916,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ceb4fd7744ad3d66bd7176f2dc1d93213f7c49998c0542033f5f65cee2b48909",
+    "visual_seed": 7909791524929338378,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aae4d74b6f6a14a436f16ace944d72201036361d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_69_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "missing_end_effector_orientation_samples": 0,
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+            "target_upright_reference_source": "scene_initial",
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+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+    "motion_controller_type": "ik_servo",
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+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d868db0051c6bfdcb144ba0664d4a92adbaad909
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_6_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.2134845405075125,
+              1.00492896729026
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+            "gripper_position": [
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+              0.20867218760576703,
+              1.0043088845514907
+            ],
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+              0.005033217523823963,
+              0.004812352901745476,
+              0.0006200827387692343
+            ],
+            "object_to_gripper_xy": 0.006963621119293232,
+            "object_to_gripper_z": 0.0006200827387692343,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3448106733949163,
+              0.18904035393771587,
+              1.00492896729026
+            ],
+            "finger_b": [
+              0.33306049108630376,
+              0.2134845405075125,
+              1.00492896729026
+            ],
+            "finger_midpoint": [
+              0.33893558224061004,
+              0.2012624472226142,
+              1.00492896729026
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+              0.005875091154306233,
+              0.012222093284898317,
+              0.0
+            ],
+            "finger_gap": 0.02712167106475294,
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+            "finger_z_skew": 0.0,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048368708149434184,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
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+              0.055584783523015754,
+              0.7701463897966115
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+              0.2966384279279194,
+              0.042461688064563824,
+              1.0291659712819297
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+            "max_source_tilt_deg": 89.7135175348397,
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+            "max_source_upright_tilt_deg": 89.90744155093999,
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+            "end_effector_tilt_deg": null,
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+            "missing_end_effector_orientation_samples": 0,
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+            "source_return_ok": true,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "controller_target_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.0243371577586252,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.008395175344729312,
+              -0.9995237310467661,
+              0.029695658020721827
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005750865853237912,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037646335418192615,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30172760146314015,
+              0.022967331632098426,
+              1.0297445077141898
+            ],
+            "held_grasp_finger_b": [
+              0.29045157403989097,
+              0.047221376611927705,
+              1.0297445077141898
+            ],
+            "held_grasp_midpoint": [
+              0.29608958775151556,
+              0.03509435412201307,
+              1.0297445077141898
+            ],
+            "held_grasp_object_position": [
+              0.30172760146314015,
+              0.047221376611927705,
+              1.0297445077141898
+            ],
+            "held_grasp_finger_gap": 0.026747102503513337,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0243371577586252,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.008395175344729312,
+              -0.9995237310467661,
+              0.029695658020721827
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005750865853237912,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037646335418192615,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3147808869562934,
+              0.2161162589529506,
+              0.7611064677009117
+            ],
+            "target_position": [
+              0.32063864107451895,
+              0.21155013984334833,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007427161438440887,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21154017203996145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064677009117,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756815955845455,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561336194407158,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1830978493116748,
+            "release_required_pad_clearance": 0.052806680972035794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6596759839318223,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e96bd8b096930d85be399faa79604edb7da79424ed61a8158e03a72e68de79f",
+    "visual_seed": 928272095733697766,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c8fe385835e4657fb74042755c6a20565c210ba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_70_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34517125927474784,
+              0.21116648080581035,
+              1.0030448895372779
+            ],
+            "current_z": 1.0030448895372779,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.14193802389464327,
+            "gripper_z": 1.002637062389742,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3402658799016193,
+              0.20641971491347658,
+              1.002637062389742
+            ],
+            "object_minus_gripper": [
+              0.004905379373128571,
+              0.004746765892333776,
+              0.00040782714753584415
+            ],
+            "object_to_gripper_xy": 0.006826018841970664,
+            "object_to_gripper_z": 0.00040782714753584415,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34517125927474784,
+              0.18683289883927132,
+              1.0030448895372779
+            ],
+            "finger_b": [
+              0.33350672476365417,
+              0.21116648080581035,
+              1.0030448895372779
+            ],
+            "finger_midpoint": [
+              0.33933899201920104,
+              0.19899968982254085,
+              1.0030448895372779
+            ],
+            "object_minus_finger_midpoint": [
+              0.005832267255546808,
+              0.012166790983269504,
+              0.0
+            ],
+            "finger_gap": 0.026984895343187255,
+            "fingertip_max_gap": 0.09167639854346235,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0030448895372779,
+            "object_top_z": 1.0529238348357481,
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+            "fingertip_min_top_clearance": 0.01496368358954106,
+            "object_projection_between_fingers": 0.8131498939728711,
+            "object_to_finger_line_xy": 0.010518473502209873,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833819927173118,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5679056533578088,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 176,
+            "max_stable_success_frames": 176,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31295146924293654,
+              0.21408009648377618,
+              0.7611063387749148
+            ],
+            "target_position": [
+              0.3212549363649584,
+              0.20918295678981416,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00963999706580226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20836700745835315,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063387749148,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559565411298297,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853127855726281,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1800561673576609,
+            "release_required_pad_clearance": 0.05265639278631405,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37114977594695053,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0045bc54ffb0122df2118e0dc2ddf3cedf569856b94262e1bccc59345b8b9133",
+    "visual_seed": 6786784468218820484,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0770093e2b9da76b620ff980886338598a9a6b91
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_71_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.35197587855059254,
+              0.22083688758789569,
+              1.0048331317652774
+            ],
+            "current_z": 1.0048331317652774,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14372668335515637,
+            "gripper_z": 1.0041877978801639,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34695638119608024,
+              0.2160952511662063,
+              1.0041877978801639
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+              0.005019497354512292,
+              0.004741636421689399,
+              0.0006453338851135637
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+            "object_to_gripper_xy": 0.006904959786084735,
+            "object_to_gripper_z": 0.0006453338851135637,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.35197587855059254,
+              0.196231557657436,
+              1.0048331317652774
+            ],
+            "finger_b": [
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+              0.22083688758789569,
+              1.0048331317652774
+            ],
+            "finger_midpoint": [
+              0.34627102498253526,
+              0.20853422262266585,
+              1.0048331317652774
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012302664965229831,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.01035098654215591,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481741788334059,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2916214631218563,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05248133730762458,
+              0.7701465090059015
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+            "gripper_position": [
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+              0.040884262850797826,
+              1.0287648399025593
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+              0.011597074456826756,
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+            "held_minus_target": [
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+              0.004718976062879382,
+              0.000603573682612879
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+            "held_gripper_dist": 0.006936219885245531,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001465090059016,
+            "gripper_z": 1.0287648399025593,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.25319162164743,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 1.4750614072921235,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9485823823144328,
+            "max_source_tilt_deg": 89.69183887055807,
+            "source_upright_tilt_deg": 1.7978462117084324,
+            "max_source_upright_tilt_deg": 89.69547567344779,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9485823823144328,
+            "source_upright_return_tilt_deg": 1.7978462117084324,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.064333243705223e-08,
+            "max_target_xy_drift": 1.2867090135194766e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2815,
+                0.0525,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0525,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
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+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
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+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  -0.0019495913693639824,
+                  0.001282212228138603,
+                  -0.0013109671918581705
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.7978093835760849,
+              "source_return_step_error_deg": 1.9485641563389513,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
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+              "source_return_best_wrist_position": -1.6109232902526855,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6109232902526855
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2815,
+              0.0525,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+              0.0525,
+              0.7701
+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0019,
+              0.0013,
+              -0.0013
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.2795,
+              0.0286,
+              1.034
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0019495913693639824,
+                0.001282212228138603,
+                -0.0013109671918581705
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.7978093835760849,
+            "pour_controller_source_return_step_error_deg": 1.9485641563389513,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9423839584873257,
+            "pour_controller_source_return_best_wrist_position": -1.6109232902526855,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6109232902526855,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01248004321235998,
+            "valid_pour_held_xy_dist": 0.01185716447370209,
+            "valid_pour_held_gripper_dist": 0.006936219885245531,
+            "valid_pour_required_height": 0.8001465090059016,
+            "valid_pour_held_z": 1.0293684135851722,
+            "valid_pour_source_tilt_deg": 1.9485823823144328,
+            "valid_pour_source_upright_tilt_deg": 1.7978462117084324,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.064333243705223e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2911084739201324,
+              0.021301017240390806,
+              1.0293684135851722
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28005980115562223,
+              0.04560323891367721,
+              1.0293684135851722
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2855841375378773,
+              0.03345212807703401,
+              1.0293684135851722
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2911084739201324,
+              0.04560323891367721,
+              1.0293684135851722
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02669590133550055,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024450877570196813,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.014537376753798641,
+              -0.9995077478159186,
+              0.027801559903508404
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005710333071886799,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037655430003603774,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2911084739201324,
+              0.021301017240390806,
+              1.0293684135851722
+            ],
+            "held_grasp_finger_b": [
+              0.28005980115562223,
+              0.04560323891367721,
+              1.0293684135851722
+            ],
+            "held_grasp_midpoint": [
+              0.2855841375378773,
+              0.03345212807703401,
+              1.0293684135851722
+            ],
+            "held_grasp_object_position": [
+              0.2911084739201324,
+              0.04560323891367721,
+              1.0293684135851722
+            ],
+            "held_grasp_finger_gap": 0.02669590133550055,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024450877570196813,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.014537376753798641,
+              -0.9995077478159186,
+              0.027801559903508404
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005710333071886799,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037655430003603774,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.328101572304622,
+              0.22410456787805713,
+              0.7611064326809122
+            ],
+            "target_position": [
+              0.32796797186168,
+              0.2180985005615508,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006007553053345413,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21384645102039618,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064326809122,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583076997554208,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08667877126891275,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18472616785495588,
+            "release_required_pad_clearance": 0.05333938563445638,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6957671530047074,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "342b7e61c5b755316ba94461e227a23e13db491beaf29f47e8fef922e17c695f",
+    "visual_seed": 8800379369292251021,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ef351f4a8f720ce3bc0f9256d49dee8a1191586
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_72_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
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+  "step_accuracy": "3/3",
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+            "valid_pour_held_grasp_top_clearance": 0.03771064808583987,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2997547501655018,
+              0.014395820297536032,
+              1.0297693750007975
+            ],
+            "held_grasp_finger_b": [
+              0.28843452213453685,
+              0.03857900859914876,
+              1.0297693750007975
+            ],
+            "held_grasp_midpoint": [
+              0.2940946361500193,
+              0.0264874144483424,
+              1.0297693750007975
+            ],
+            "held_grasp_object_position": [
+              0.2997547501655018,
+              0.03857900859914876,
+              1.0297693750007975
+            ],
+            "held_grasp_finger_gap": 0.026701575966678503,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024324311751899766,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.013476220733133882,
+              -0.9995273393538894,
+              0.02763131120462136
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0058320665253278415,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03771064808583987,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32362767625505134,
+              0.21473639339535244,
+              0.7611065120311579
+            ],
+            "target_position": [
+              0.3221495808664938,
+              0.21534209912986108,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0015973870584462875,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2174860773597445,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065120311579,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523063497483495,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857387476173178,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18797745294140147,
+            "release_required_pad_clearance": 0.0528693738086589,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7803389870045352,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dd009c8ad26a57e4603800940eff8be5e13e467fe74dffe41ee5a07140c7d380",
+    "visual_seed": 5605154480689061024,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d5092ae57addf99b2cfc0cc39c59618d3d2185e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_73_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.34515282439856587,
+              0.2211431140079818,
+              1.0024335112698246
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+            "current_z": 1.0024335112698246,
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+            "lift_margin": 0.14132694365041387,
+            "gripper_z": 1.001922977784457,
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+            "gripper_position": [
+              0.3400518031013676,
+              0.21626452621042858,
+              1.001922977784457
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+              0.005101021297198249,
+              0.0048785877975532355,
+              0.0005105334853676702
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+            "object_to_gripper_z": 0.0005105334853676702,
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+              0.34515282439856587,
+              0.1966276195516228,
+              1.0024335112698246
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+              0.3333530046096149,
+              0.2211431140079818,
+              1.0024335112698246
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+            "finger_midpoint": [
+              0.3392529145040904,
+              0.2088853667798023,
+              1.0024335112698246
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+              0.005899909894475475,
+              0.012257747228179516,
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+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8119059142323904,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819826209220303,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 176,
+            "max_stable_success_frames": 176,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544358014912887,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09131678502871714,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18020471996929385,
+            "release_required_pad_clearance": 0.05565839251435857,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.479328521859687,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "83eff585389f4581121dc531180840e27e371a2ac95221b191ab8252113c0828",
+    "visual_seed": 7365241650896915930,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_74_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa62ea58bcba5f4dfecfeb3805e89df8d7686fd6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_74_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3530317981235557,
+              0.22105786135296696,
+              1.0049521610079415
+            ],
+            "current_z": 1.0049521610079415,
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+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1438454741792412,
+            "gripper_z": 1.0039552244808099,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34759579301296806,
+              0.21622883524422354,
+              1.0039552244808099
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+              0.004829026108743417,
+              0.00099693652713162
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+            "object_to_gripper_xy": 0.007271151540248647,
+            "object_to_gripper_z": 0.00099693652713162,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3530317981235557,
+              0.19621045523021977,
+              1.0049521610079415
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+            "finger_b": [
+              0.3414388895785082,
+              0.22105786135296696,
+              1.0049521610079415
+            ],
+            "finger_midpoint": [
+              0.34723534385103194,
+              0.20863415829159337,
+              1.0049521610079415
+            ],
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+              0.005796454272523732,
+              0.012423703061373581,
+              0.0
+            ],
+            "finger_gap": 0.027418773122854512,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_projection_between_fingers": 0.8212324107430113,
+            "object_to_finger_line_xy": 0.010505711013107233,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815530562282182,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
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+          }
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.28939057505194593,
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+              0.770146389796612
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+              0.04015013453159756,
+              1.0289480735302479
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+              0.004879584041351526,
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+            "max_held_gripper_dist": 0.007357077284274419,
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+            "missing_held_position_samples": 0,
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+            "gripper_z": 1.0289480735302479,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2469351683677,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 1.987229784496427,
+            "max_source_tilt_deg": 89.9817072983018,
+            "source_upright_tilt_deg": 2.4090435534057173,
+            "max_source_upright_tilt_deg": 89.99742796981215,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.987229784496427,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.50593981019146e-08,
+            "max_target_xy_drift": 1.8998980522155762e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0516,
+                0.7701
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+              "controller_target_position": [
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+                0.0516,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6122825145721436
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+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2894,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0005,
+              0.0009,
+              -0.001
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.2889,
+              0.0273,
+              1.0344
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0004928886795693454,
+                0.0008703239296939396,
+                -0.0009937649498412689
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.409057866733744,
+            "pour_controller_source_return_step_error_deg": 1.9872378225587632,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.4120570659061378,
+            "pour_controller_source_return_best_wrist_position": -1.6122825145721436,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6122825145721436,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.012413375783791838,
+            "valid_pour_held_xy_dist": 0.012127926270462797,
+            "valid_pour_held_gripper_dist": 0.007341572885017316,
+            "valid_pour_required_height": 0.800146389796612,
+            "valid_pour_held_z": 1.0299050898245854,
+            "valid_pour_source_tilt_deg": 1.987229784496427,
+            "valid_pour_source_upright_tilt_deg": 2.4090435534057173,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.50593981019146e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2995837854932205,
+              0.02067399592747283,
+              1.0299050898245854
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2881016682472517,
+              0.04502971857294909,
+              1.0299050898245854
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2938427268702361,
+              0.03285185725021096,
+              1.0299050898245854
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2995837854932205,
+              0.04502971857294909,
+              1.0299050898245854
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026926571301105894,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02462887832465468,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02566433085060857,
+              -0.9991162168743288,
+              0.03328854608900489
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006065102700090003,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03770049176363374,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2995837854932205,
+              0.02067399592747283,
+              1.0299050898245854
+            ],
+            "held_grasp_finger_b": [
+              0.2881016682472517,
+              0.04502971857294909,
+              1.0299050898245854
+            ],
+            "held_grasp_midpoint": [
+              0.2938427268702361,
+              0.03285185725021096,
+              1.0299050898245854
+            ],
+            "held_grasp_object_position": [
+              0.2995837854932205,
+              0.04502971857294909,
+              1.0299050898245854
+            ],
+            "held_grasp_finger_gap": 0.026926571301105894,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02462887832465468,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02566433085060857,
+              -0.9991162168743288,
+              0.03328854608900489
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006065102700090003,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03770049176363374,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.33034790929710334,
+              0.21882197798553002,
+              0.7611069054724502
+            ],
+            "target_position": [
+              0.3287734574020652,
+              0.21679707828370767,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0025649790588286275,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21758049237069688,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611069054724502,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562527276711967,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582624339054733,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18795073568521697,
+            "release_required_pad_clearance": 0.052913121695273665,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8632005800736807,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c4fc147050e8b61245f22f707b82f44684a7ab0843dc56b21ae9d954e8bfba5f",
+    "visual_seed": 8429176501524448653,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8221722e37c09acba21b4786bbde6934ee3a8ae
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_75_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3541878301203323,
+              0.22321648271373046,
+              1.0040698512106463
+            ],
+            "current_z": 1.0040698512106463,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.14296316438194578,
+            "gripper_z": 1.0034344458205662,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024538973496186587,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.031674415026272454,
+              -0.9990123330827003,
+              0.031162313479642823
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006102221898812158,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03781250550652588,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3262284404174589,
+              0.22235223202663118,
+              0.7611085806173783
+            ],
+            "target_position": [
+              0.3300348866836871,
+              0.21838250923914157,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005499793831335558,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2138767176908665,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611085806173783,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582654440528235,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0874466554254643,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18485094244266762,
+            "release_required_pad_clearance": 0.05372332771273215,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4549707029732497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3a462b6b0e7609c523095d42e461e217dcac6c1aad31734ea4874c290644664e",
+    "visual_seed": 6964749341040157747,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e4d3cbdcc36f857cff8feb2d419db9738386f20
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_76_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.35398192041055554,
+              0.21398264827405197,
+              1.0024153509632554
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+            "gripper_z": 1.0019213931338111,
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+            "gripper_position": [
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+              0.20916484857832213,
+              1.0019213931338111
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+              0.004817799695729846,
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+              0.35398192041055554,
+              0.1895750691903468,
+              1.0024153509632554
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+            "finger_b": [
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+              0.21398264827405197,
+              1.0024153509632554
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+              0.34809205860153997,
+              0.2017788587321994,
+              1.0024153509632554
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+              0.005889861809015573,
+              0.012203789541852583,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3187226855483296,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 176,
+            "max_stable_success_frames": 176,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.28148014462057985,
+              0.05146103244894005,
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+            "object_tilt_deg": 1.3825095621163463,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40d8d8868d214e4b2a1f397717c212894cb46e82b3b1aafc7a3c31ded114414a",
+    "visual_seed": 3145511756001474893,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e297b2b85c6cfb0bc13da98a5e23a4da798dbf75
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_77_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.21620895278085464,
+              1.0041454990360967
+            ],
+            "current_z": 1.0041454990360967,
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+            "initial_z": 0.7611065676194105,
+            "lift_margin": 0.14303893141668622,
+            "gripper_z": 1.003097957729059,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2113327612314495,
+              1.003097957729059
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+              0.0048761915494051344,
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+            "object_to_gripper_z": 0.0010475413070376582,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.1917722430875114,
+              1.0041454990360967
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+            "finger_b": [
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+              0.21620895278085464,
+              1.0041454990360967
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+              0.203990597934183,
+              1.0041454990360967
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+              0.0
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+            "object_to_finger_line_xy": 0.010700812166791718,
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+              1.0
+            ],
+            "stable_success_frames": 177,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.054161122857265265,
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+              0.04179030395882209,
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+            "max_source_upright_tilt_deg": 89.7413064381811,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "wrist_joint_name": "wrist_3_joint",
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+                "approach_height_range_m": [
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+            "pour_controller_pour_pose_offset": [
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+              -0.0008
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0298,
+              1.0345
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0008482681509117255,
+                -0.0008007985456154377
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.7836685776968315,
+            "pour_controller_source_return_step_error_deg": 1.9833914015917593,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9731455133149363,
+            "pour_controller_source_return_best_wrist_position": -1.6097888946533203,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6097888946533203,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013392422632271693,
+            "valid_pour_held_xy_dist": 0.012840587117712842,
+            "valid_pour_held_gripper_dist": 0.007132564502410259,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0300451717843555,
+            "valid_pour_source_tilt_deg": 1.9834098939582687,
+            "valid_pour_source_upright_tilt_deg": 1.7836652762438983,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.9351883535969567e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2916584900391815,
+              0.022089618970610788,
+              1.0300451717843555
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2805658367612204,
+              0.046552695621238635,
+              1.0300451717843555
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.28611216340020096,
+              0.03432115729592471,
+              1.0300451717843555
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2916584900391815,
+              0.046552695621238635,
+              1.0300451717843555
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026860548690589972,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024409303941240103,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.003779071805909068,
+              -0.9995154830154215,
+              0.03089527194789987
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00551305229370223,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03747367816621954,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2916584900391815,
+              0.022089618970610788,
+              1.0300451717843555
+            ],
+            "held_grasp_finger_b": [
+              0.2805658367612204,
+              0.046552695621238635,
+              1.0300451717843555
+            ],
+            "held_grasp_midpoint": [
+              0.28611216340020096,
+              0.03432115729592471,
+              1.0300451717843555
+            ],
+            "held_grasp_object_position": [
+              0.2916584900391815,
+              0.046552695621238635,
+              1.0300451717843555
+            ],
+            "held_grasp_finger_gap": 0.026860548690589972,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024409303941240103,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.003779071805909068,
+              -0.9995154830154215,
+              0.03089527194789987
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00551305229370223,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03747367816621954,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3241481765585737,
+              0.2220604842401752,
+              0.761106448812244
+            ],
+            "target_position": [
+              0.32573668069719647,
+              0.2143393010466739,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007882893840844774,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21481892099802488,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106448812244,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523284053169305,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533469039612089,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18743946030096653,
+            "release_required_pad_clearance": 0.05266734519806045,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3916704212847218,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29f8caf031816c587be6ba6176a44b631635a84eb1c56c1b600bde5243a14078",
+    "visual_seed": 3965461607753258288,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa5adc04f429d1318fdc0fbc5f7e84b915fbdbb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_78_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3457779227658789,
+              0.21253622881993148,
+              1.0022289882251698
+            ],
+            "current_z": 1.0022289882251698,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14112253981504874,
+            "gripper_z": 1.001875697147931,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3406308890211714,
+              0.20762210475488718,
+              1.001875697147931
+            ],
+            "object_minus_gripper": [
+              0.005147033744707485,
+              0.004914124065044295,
+              0.00035329107723880426
+            ],
+            "object_to_gripper_xy": 0.0071162189184850845,
+            "object_to_gripper_z": 0.00035329107723880426,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3457779227658789,
+              0.1881003441190295,
+              1.0022289882251698
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.00620408947468158,
+              -0.9995008755273666,
+              0.03097594379220725
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005755026219623143,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037600787966690655,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3301955609451656,
+              0.2136148533162651,
+              0.7611071828970971
+            ],
+            "target_position": [
+              0.3216276983522228,
+              0.20959466437382704,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009464152817048628,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22179918601145499,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611071828970971,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563558357951691,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08801403955922847,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19162913132803694,
+            "release_required_pad_clearance": 0.05400701977961424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0251693537063247,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "351a001f6ce58a5dff8c65e598ef074d9ce7681b1edc271dfc040650036a0e54",
+    "visual_seed": 4004603334259419471,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fe0303a6eef6ecd78365160ed2390fbae76561c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_79_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.35285992356304013,
+              0.21527716750074877,
+              1.0057343377947445
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+            "gripper_position": [
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+              0.21040433851770132,
+              1.0050393120258767
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+              0.1910328497735097,
+              1.0057343377947445
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+              1.0057343377947445
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+              0.20315500863712924,
+              1.0057343377947445
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04651508745425204,
+              0.7701463897966118
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+              0.03480978544932224,
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+            "held_position": [
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+            "held_minus_target": [
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+              -0.006912340590841025,
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70566b021c3509779605b6238fe4dc246082e9fa77abcda030bd2dd81a02f1b6",
+    "visual_seed": 4681844457299910457,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aca4ee6757bdb8b75116edc0d0027c8395b4b11c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_7_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.3449320240582582,
+              0.21795910516344286,
+              1.0059709261405194
+            ],
+            "current_z": 1.0059709261405194,
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+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1448643585211088,
+            "gripper_z": 1.0052296818313349,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3397434859240066,
+              0.2131821501198925,
+              1.0052296818313349
+            ],
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+              0.005188538134251575,
+              0.004776955043550357,
+              0.0007412443091845411
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+            "object_to_gripper_xy": 0.007052675198723106,
+            "object_to_gripper_z": 0.0007412443091845411,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.3449320240582582,
+              0.19320696261795445,
+              1.0059709261405194
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+            "finger_b": [
+              0.3334962315953416,
+              0.21795910516344286,
+              1.0059709261405194
+            ],
+            "finger_midpoint": [
+              0.3392141278267999,
+              0.20558303389069865,
+              1.0059709261405194
+            ],
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+              0.005717896231458297,
+              0.012376071272744205,
+              0.0
+            ],
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010381362935198752,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048121401765055485,
+            "require_object_upright": true,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701463897966114
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+              0.04009016964021417,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.00480427776731495,
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+            "max_held_gripper_dist": 0.007101165701294734,
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+            "missing_held_position_samples": 0,
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+            "gripper_z": 1.0305490272582067,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23324746927099,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.75258878449895,
+            "source_upright_tilt_deg": 2.281790009206883,
+            "max_source_upright_tilt_deg": 89.95741348687717,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8121913234317928,
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+            "target_xy_drift": 1.1175870895385742e-07,
+            "max_target_xy_drift": 1.431209796093296e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0539,
+                0.7701
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+              "controller_target_position": [
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+                0.0539,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.001239801464810742,
+                -0.0011571593985639126,
+                0.0013748102709208506
+              ],
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.2818013984522585,
+            "pour_controller_source_return_step_error_deg": 1.8122145340403846,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.278181400481253,
+            "pour_controller_source_return_best_wrist_position": -1.6093603372573853,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6093603372573853,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.015243928270853373,
+            "valid_pour_held_xy_dist": 0.014656903109702128,
+            "valid_pour_held_gripper_dist": 0.00709311168926343,
+            "valid_pour_required_height": 0.8001463897966115,
+            "valid_pour_held_z": 1.0312489565167122,
+            "valid_pour_source_tilt_deg": 1.8121913234317928,
+            "valid_pour_source_upright_tilt_deg": 2.281790009206883,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.1175870895385742e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3019323893839571,
+              0.020566905628534804,
+              1.0312489565167122
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.29063072476979046,
+              0.04489444740752912,
+              1.0312489565167122
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29628155707687376,
+              0.032730676518031965,
+              1.0312489565167122
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3019323893839571,
+              0.04489444740752912,
+              1.0312489565167122
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026824558003065407,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024573846552077526,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.023500421733258777,
+              -0.9992071080665369,
+              0.032138533999968695
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005947845633537336,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037698920678777066,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3019323893839571,
+              0.020566905628534804,
+              1.0312489565167122
+            ],
+            "held_grasp_finger_b": [
+              0.29063072476979046,
+              0.04489444740752912,
+              1.0312489565167122
+            ],
+            "held_grasp_midpoint": [
+              0.29628155707687376,
+              0.032730676518031965,
+              1.0312489565167122
+            ],
+            "held_grasp_object_position": [
+              0.3019323893839571,
+              0.04489444740752912,
+              1.0312489565167122
+            ],
+            "held_grasp_finger_gap": 0.026824558003065407,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024573846552077526,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.023500421733258777,
+              -0.9992071080665369,
+              0.032138533999968695
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005947845633537336,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037698920678777066,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3188797061390847,
+              0.22309763985522185,
+              0.7611066103910452
+            ],
+            "target_position": [
+              0.32067904064683433,
+              0.2145253016222908,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.008759143077410604,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2140420799493198,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066103910452,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759548916750589,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08697981496899891,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18527683082681204,
+            "release_required_pad_clearance": 0.05348990748449946,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9920586654538612,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "60634b275404adcbf1e5864d5c791a64c786b519c26fb55dbd60e09f728d0ed2",
+    "visual_seed": 1423769511219824145,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6da48e6634e3f367e584ad2b5476a58e4bbdf208
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_80_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34944786756359,
+              0.21834279879520815,
+              1.0045153069301427
+            ],
+            "current_z": 1.0045153069301427,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.14340850089215285,
+            "gripper_z": 1.0038505407861835,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3440164789806581,
+              0.21351294154460387,
+              1.0038505407861835
+            ],
+            "object_minus_gripper": [
+              0.005431388582931851,
+              0.00482985725060428,
+              0.0006647661439591612
+            ],
+            "object_to_gripper_xy": 0.0072682530913567665,
+            "object_to_gripper_z": 0.0006647661439591612,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34944786756359,
+              0.19354852835475392,
+              1.0045153069301427
+            ],
+            "finger_b": [
+              0.3377531700652308,
+              0.21834279879520815,
+              1.0045153069301427
+            ],
+            "finger_midpoint": [
+              0.3436005188144104,
+              0.20594566357498104,
+              1.0045153069301427
+            ],
+            "object_minus_finger_midpoint": [
+              0.005847348749179582,
+              0.012397135220227118,
+              0.0
+            ],
+            "finger_gap": 0.027413897866821326,
+            "fingertip_max_gap": 0.0918505726122438,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013706948933410663,
+            "object_to_finger_midpoint_z": 0.0,
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+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.30627776191601563,
+              0.23202943903104215,
+              0.7611197901363459
+            ],
+            "target_position": [
+              0.3249566567094551,
+              0.2173221860328461,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.023774027876178817,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20524471298197017,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611197901363459,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.079125400908102,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085510612377987,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18021411041228444,
+            "release_required_pad_clearance": 0.0527553061889935,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5020756542784136,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca8a5888b6aafa9c384e55c9c33cc1091dd9c5ca67493fd5ed4e99a745349b09",
+    "visual_seed": 7256217671873964359,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c02fee7f5e8707120053776f7fbbd041d7cc3aed
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_81_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.00669073532544
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+              0.19924938049818827,
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+            "stable_success_frames": 180,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+              ],
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+          }
+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "target_position": [
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+            "max_held_gripper_dist": 0.007019581072328979,
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+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0310587154809365,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23437445048404,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5890256fa606d6fa6a44c562b8c347806cbc1d5ad565f9974d04857bda424627",
+    "visual_seed": 8191488526399899459,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c106fe6d4629248830e6e54811e7910effc2577
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_82_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.22081584213855612,
+              1.0067428077395033
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+            "current_z": 1.0067428077395033,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14563629972473724,
+            "gripper_z": 1.0056690617936117,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21594787170353685,
+              1.0056690617936117
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+              0.00486797043501927,
+              0.001073745945891602
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+            "object_to_gripper_z": 0.001073745945891602,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              0.19630250619540085,
+              1.0067428077395033
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+              0.22081584213855612,
+              1.0067428077395033
+            ],
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+              0.34795072901396296,
+              0.2085591741669785,
+              1.0067428077395033
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012256667971577623,
+              0.0
+            ],
+            "finger_gap": 0.027200705013973578,
+            "fingertip_max_gap": 0.09161419023959069,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014986427049298161,
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+            "object_to_finger_line_xy": 0.010624051106852944,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830709511979535,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 180,
+            "max_stable_success_frames": 180,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05505967405312515,
+              0.7701463301919672
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+            "gripper_position": [
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+              0.04230895306673091,
+              1.0309271245627896
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+              0.004819418420698225,
+              0.0010326575820855943
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+            "gripper_z": 1.0309271245627896,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22779697831332,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_tilt_deg": 1.835788661254246,
+            "max_source_tilt_deg": 89.95555393993078,
+            "source_upright_tilt_deg": 1.6441622951277717,
+            "max_source_upright_tilt_deg": 89.98230044884829,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 8.948454372185702e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0551,
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+              "controller_target_position": [
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+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8282601466396138,
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+            "pour_controller_wrist_compensated_return_position": -1.6098005771636963,
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014614239765135073,
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+            "valid_pour_held_gripper_dist": 0.007134126325707026,
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+            "valid_pour_held_z": 1.0319597821448752,
+            "valid_pour_source_tilt_deg": 1.835788661254246,
+            "valid_pour_source_upright_tilt_deg": 1.6441622951277717,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.948454372185702e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2999118713343075,
+              0.022777795692383113,
+              1.0319597821448752
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2886526672656929,
+              0.047128371487429134,
+              1.0319597821448752
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29428226930000023,
+              0.03495308358990612,
+              1.0319597821448752
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2999118713343075,
+              0.047128371487429134,
+              1.0319597821448752
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02682760179011515,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02444994840785579,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.009716286205919614,
+              -0.9995883039293968,
+              0.02699660033997841
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00575698351555111,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03760467351534868,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2999118713343075,
+              0.022777795692383113,
+              1.0319597821448752
+            ],
+            "held_grasp_finger_b": [
+              0.2886526672656929,
+              0.047128371487429134,
+              1.0319597821448752
+            ],
+            "held_grasp_midpoint": [
+              0.29428226930000023,
+              0.03495308358990612,
+              1.0319597821448752
+            ],
+            "held_grasp_object_position": [
+              0.2999118713343075,
+              0.047128371487429134,
+              1.0319597821448752
+            ],
+            "held_grasp_finger_gap": 0.02682760179011515,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02444994840785579,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.009716286205919614,
+              -0.9995883039293968,
+              0.02699660033997841
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00575698351555111,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03760467351534868,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32740027433111896,
+              0.21667847379231084,
+              0.7611064283547375
+            ],
+            "target_position": [
+              0.32968117152587667,
+              0.2177409019759534,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0025161966652969747,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21350666153861098,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064283547375,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558111448956413,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08730838405338924,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18367537608093715,
+            "release_required_pad_clearance": 0.05365419202669462,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3182057854977756,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4701899072dea665dbb2a91390bc6fc5fa5a577b17ef9d0295c92549f36e59d0",
+    "visual_seed": 1495670732497398885,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e8c9be9e9f062c0dfb6167c3c3096b7c59fe17c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_83_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3541020435119862,
+              0.21970944324312539,
+              1.0062170533168127
+            ],
+            "current_z": 1.0062170533168127,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1451105453020466,
+            "gripper_z": 1.005388841805879,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34904701773396063,
+              0.21478286771469918,
+              1.005388841805879
+            ],
+            "object_minus_gripper": [
+              0.005055025778025579,
+              0.004926575528426208,
+              0.0008282115109337074
+            ],
+            "object_to_gripper_xy": 0.007058642366191326,
+            "object_to_gripper_z": 0.0008282115109337074,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3541020435119862,
+              0.19541434650409978,
+              1.0062170533168127
+            ],
+            "finger_b": [
+              0.34198354624750427,
+              0.21970944324312539,
+              1.0062170533168127
+            ],
+            "finger_midpoint": [
+              0.3480427948797452,
+              0.2075618948736126,
+              1.0062170533168127
+            ],
+            "object_minus_finger_midpoint": [
+              0.006059248632240999,
+              0.01214754836951279,
+              0.0
+            ],
+            "finger_gap": 0.02714976429930597,
+            "fingertip_max_gap": 0.09183500692434624,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013574882149652984,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0062170533168127,
+            "object_top_z": 1.0561302849488357,
+            "finger_top_clearance": 0.04991323163202299,
+            "fingertip_min_top_clearance": 0.014973969489606864,
+            "object_projection_between_fingers": 0.8007651023330229,
+            "object_to_finger_line_xy": 0.010844295373117928,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841750346217312,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4473916344580144,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3226535076154559,
+              0.21506463120277977,
+              0.7611155800297407
+            ],
+            "target_position": [
+              0.3299296140604962,
+              0.2147360236879871,
+              0.7774145980897915
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20947900646968173,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611155800297407,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544338431930496,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653828302982473,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18058026366958513,
+            "release_required_pad_clearance": 0.05326914151491237,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.547575233880296,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70ff97578e4f6c87b78a95a1a183e7d1ea0a66f150edf9fec11f525b546d8d7a",
+    "visual_seed": 5402719683607826804,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5696232ab1cfbe4f23d7417cb5e9bc0490703c57
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_84_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+            "stable_success_frames": 178,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "021285bdb097eba4dfc965699f9805ee5696f225b2cbaafe69025bc9c21fc4d5",
+    "visual_seed": 1007469319865499062,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7133b92e2dcdc84cc779c4d3497157bc041ee4f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_85_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.0055924476594136
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+              0.21051292227631768,
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+              0.004813361197153171,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.19046787814446325,
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+              1.0055924476594136
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+              0.20289708080896707,
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+              0.012429202664503786,
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+              1.0
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+            "stable_success_frames": 179,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.03654119984077436,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_z": 1.0296392970617705,
+            "valid_pour_source_tilt_deg": 1.8312742829857698,
+            "valid_pour_source_upright_tilt_deg": 2.7813862984268316,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.078051567077637e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29249633207967973,
+              0.01725265106356338,
+              1.0296392970617705
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2808624488193383,
+              0.04146295528883401,
+              1.0296392970617705
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.286679390449509,
+              0.029357803176198696,
+              1.0296392970617705
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29249633207967973,
+              0.04146295528883401,
+              1.0296392970617705
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026860492742974938,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02459280152907915,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03532938406190333,
+              -0.9988219633358569,
+              0.03326439808129333
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006253734282121744,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03783486723539144,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29249633207967973,
+              0.01725265106356338,
+              1.0296392970617705
+            ],
+            "held_grasp_finger_b": [
+              0.2808624488193383,
+              0.04146295528883401,
+              1.0296392970617705
+            ],
+            "held_grasp_midpoint": [
+              0.286679390449509,
+              0.029357803176198696,
+              1.0296392970617705
+            ],
+            "held_grasp_object_position": [
+              0.29249633207967973,
+              0.04146295528883401,
+              1.0296392970617705
+            ],
+            "held_grasp_finger_gap": 0.026860492742974938,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02459280152907915,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03532938406190333,
+              -0.9988219633358569,
+              0.03326439808129333
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006253734282121744,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03783486723539144,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3105254090664145,
+              0.21911817963801314,
+              0.7611065171056748
+            ],
+            "target_position": [
+              0.3207471574121697,
+              0.213651045547316,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.011591966805059934,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2088709773121364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065171056748,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757305929866423,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499579291446967,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18052468698536742,
+            "release_required_pad_clearance": 0.052497896457234836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852803551181604,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 231,
+            "max_placed_release_frames": 231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f7168c5e066b084dbc4e9e78a5f5aa9c3262899b3e8013b29e144f739d316d57",
+    "visual_seed": 8501928593964902795,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3220f444d8a82c697d42f8ab3ef31ef134d29179
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_86_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3515944764232976,
+              0.22088580051503012,
+              1.0029943135642565
+            ],
+            "current_z": 1.0029943135642565,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14188780554949065,
+            "gripper_z": 1.002433311318254,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34654121989127046,
+              0.21612533304007572,
+              1.002433311318254
+            ],
+            "object_minus_gripper": [
+              0.0050532565320271505,
+              0.0047604674749544,
+              0.0005610022460025288
+            ],
+            "object_to_gripper_xy": 0.006942438487921501,
+            "object_to_gripper_z": 0.0005610022460025288,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3515944764232976,
+              0.19625175450536173,
+              1.0029943135642565
+            ],
+            "finger_b": [
+              0.340168157132009,
+              0.22088580051503012,
+              1.0029943135642565
+            ],
+            "finger_midpoint": [
+              0.3458813167776533,
+              0.20856877751019592,
+              1.0029943135642565
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057131596456442835,
+              0.012317023004834199,
+              0.0
+            ],
+            "finger_gap": 0.02715505469250493,
+            "fingertip_max_gap": 0.09182617476019636,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013577527346252453,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0029943135642565,
+            "object_top_z": 1.0529955806064135,
+            "finger_top_clearance": 0.050001267042157016,
+            "fingertip_min_top_clearance": 0.015000380112647104,
+            "object_projection_between_fingers": 0.8229437150283134,
+            "object_to_finger_line_xy": 0.010365527830089604,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841308738009818,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.69184934365635,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 177,
+            "max_stable_success_frames": 177,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
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+                "panda_joint1",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31787208372079084,
+              0.21624837544175848,
+              0.7611068094929373
+            ],
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+              0.32757190131010505,
+              0.21665080386971114,
+              0.7774145980897915
+            ],
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+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
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+            "min_z": 0.5774145980897916,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17988264101302942,
+            "release_required_pad_clearance": 0.05339164917671825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7983627188646276,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba231227e482debce205a3607c2ecf9b56f039191cdd2a905c5322189ac139eb",
+    "visual_seed": 274011216534794569,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b625d151a706910c9504be3f2062b9d5875ae7fe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_87_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_xy_drift": 9.010275172030794e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+                "fr3_rightfinger",
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+                "gripper",
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+                "panda_leftfingertip",
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+                "wrist",
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+  "reproducibility": {
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+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ee2faef38e55ff01059260ab0bc0450ce4203ea0201874b3d82f61970515f951",
+    "visual_seed": 6079964151650301315,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..71b0ef802e4e8298aeaddf16cc9fbd6453e754dc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_88_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
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+                "desk",
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+                "table",
+                "wheel",
+                "workbench"
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+            "source_missing": false,
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+    {
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+      "skill": "pour",
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+      "reason": "executed",
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+          "checker": "PourSuccessChecker",
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+            "max_valid_pour_pose_frames": 219,
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+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29259376515183577,
+              0.015503995390034105,
+              1.0295838370797719
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28127766915663394,
+              0.03985437965706064,
+              1.0295838370797719
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2869357171542348,
+              0.027679187523547373,
+              1.0295838370797719
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29259376515183577,
+              0.03985437965706064,
+              1.0295838370797719
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026851354575225368,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024292895484459388,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.004122485164432882,
+              -0.9995549004652751,
+              0.02954667615694173
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005619356493569726,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03752715189000585,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29259376515183577,
+              0.015503995390034105,
+              1.0295838370797719
+            ],
+            "held_grasp_finger_b": [
+              0.28127766915663394,
+              0.03985437965706064,
+              1.0295838370797719
+            ],
+            "held_grasp_midpoint": [
+              0.2869357171542348,
+              0.027679187523547373,
+              1.0295838370797719
+            ],
+            "held_grasp_object_position": [
+              0.29259376515183577,
+              0.03985437965706064,
+              1.0295838370797719
+            ],
+            "held_grasp_finger_gap": 0.026851354575225368,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024292895484459388,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004122485164432882,
+              -0.9995549004652751,
+              0.02954667615694173
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005619356493569726,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03752715189000585,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.31924334390586884,
+              0.209293157764446,
+              0.7611064661565572
+            ],
+            "target_position": [
+              0.3289581034760159,
+              0.20911231677450826,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009716442608764048,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2089616905579461,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064661565572,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523831043384545,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08719627903195108,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18079354354554017,
+            "release_required_pad_clearance": 0.05359813951597554,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2068072117914888,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3016e915c48f6809312f2288e25ee198ba95ff0fed727f4faccca21a76d73705",
+    "visual_seed": 7494717153620824194,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09d989901ef2922bb5c8ef31ce6a2f077b6836d3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_89_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3516930682631055,
+              0.21265427014862817,
+              1.0048813361329396
+            ],
+            "current_z": 1.0048813361329396,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14377482811817355,
+            "gripper_z": 1.0042337798827625,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34652131040252765,
+              0.207811052753217,
+              1.0042337798827625
+            ],
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+              0.00517175786057783,
+              0.004843217395411159,
+              0.0006475562501770948
+            ],
+            "object_to_gripper_xy": 0.00708546640015051,
+            "object_to_gripper_z": 0.0006475562501770948,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3516930682631055,
+              0.1880132385838185,
+              1.0048813361329396
+            ],
+            "finger_b": [
+              0.34004453977063864,
+              0.21265427014862817,
+              1.0048813361329396
+            ],
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+              0.34586880401687203,
+              0.20033375436622333,
+              1.0048813361329396
+            ],
+            "object_minus_finger_midpoint": [
+              0.005824264246233446,
+              0.01232051578240484,
+              0.0
+            ],
+            "finger_gap": 0.02725561690033375,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013627808450166886,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0048813361329396,
+            "object_top_z": 1.0547266580105144,
+            "finger_top_clearance": 0.04984532187757473,
+            "fingertip_min_top_clearance": 0.01495359656327242,
+            "object_projection_between_fingers": 0.8173456161305681,
+            "object_to_finger_line_xy": 0.01053110481102137,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048291768209723376,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5762034356492436,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3247744819928923,
+              0.21343535075027917,
+              0.7611064262645431
+            ],
+            "target_position": [
+              0.32752712770926806,
+              0.21079944401170167,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.003811176035603701,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21295502175166395,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064262645431,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546267382668521,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08952566097120089,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1839420104639634,
+            "release_required_pad_clearance": 0.05476283048560045,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.576657046345956,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2bc97d3db8c809a3d2e337b89c76601c3c8dcbbce9b762150fea41f0d5359984",
+    "visual_seed": 4432004491557256839,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..526e6d1ed0e8056178a03be79d49cace53567feb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_8_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.3449309393405527,
+              0.21475687751274097,
+              1.0059984647552607
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+              0.20995073636477424,
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+              0.2026010588103247,
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+              0.0,
+              1.0
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+            "stable_success_frames": 178,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_xy_drift": 3.332000937312528e-08,
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+            "target_upright_reference_source": "scene_initial",
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+            "target_start_tilt_deg": 0.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9004dae6994d884ff32afdd98833b529a47ca2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_90_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.21946753781287878,
+              1.006209162728016
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+            "lift_margin": 0.1451024758993158,
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+              0.3469205349386774,
+              0.2148128077802698,
+              1.005201828415883
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+              0.004654730032608995,
+              0.001007334312133068
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+            "object_to_gripper_z": 0.001007334312133068,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.19484829337625947,
+              1.006209162728016
+            ],
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+              0.21946753781287878,
+              1.006209162728016
+            ],
+            "finger_midpoint": [
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+              0.20715791559456914,
+              1.006209162728016
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+              0.01230962221830964,
+              0.0
+            ],
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+            "finger_midpoint_minus_object_z": 0.0,
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+              0.0,
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+            "stable_success_frames": 180,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
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+          }
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+              0.7701464494012564
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+              0.0372517423228452,
+              1.0298245935872725
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+            "missing_end_effector_orientation_samples": 0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024470951657983592,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03859176390445284,
+              -0.9987163981571704,
+              0.03280597218055482
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006109834929652817,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03791986625494354,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29472403796766233,
+              0.01791593969352803,
+              1.0307924749785278
+            ],
+            "held_grasp_finger_b": [
+              0.2834498185534502,
+              0.041982691464595615,
+              1.0307924749785278
+            ],
+            "held_grasp_midpoint": [
+              0.28908692826055626,
+              0.029949315579061823,
+              1.0307924749785278
+            ],
+            "held_grasp_object_position": [
+              0.29472403796766233,
+              0.041982691464595615,
+              1.0307924749785278
+            ],
+            "held_grasp_finger_gap": 0.02657661686915742,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024470951657983592,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03859176390445284,
+              -0.9987163981571704,
+              0.03280597218055482
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006109834929652817,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03791986625494354,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3236547556391695,
+              0.22369696709675024,
+              0.761106864680128
+            ],
+            "target_position": [
+              0.32785134919296255,
+              0.21578099522807145,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.008959576333814633,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21099793163173777,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106864680128,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759316814135565,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859264613806011,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18265538449460583,
+            "release_required_pad_clearance": 0.05296323069030055,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9618396650671428,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59bcc678f1f76925397940d2807d050b03e01cd7906885d6e9d325cf3f63e7fe",
+    "visual_seed": 366630606781375908,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f26792cd8ecaff7d13194d3886318e9b18e79464
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_91_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3533738173756353,
+              0.216759294246414,
+              1.0028376597772535
+            ],
+            "current_z": 1.0028376597772535,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1417309729485533,
+            "gripper_z": 1.0017598995312056,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3481616551784012,
+              0.2119480651563059,
+              1.0017598995312056
+            ],
+            "object_minus_gripper": [
+              0.005212162197234083,
+              0.004811229090108088,
+              0.0010777602460478874
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+            "object_to_gripper_xy": 0.007093275697995836,
+            "object_to_gripper_z": 0.0010777602460478874,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3533738173756353,
+              0.19201249940654494,
+              1.0028376597772535
+            ],
+            "finger_b": [
+              0.3418717751554142,
+              0.216759294246414,
+              1.0028376597772535
+            ],
+            "finger_midpoint": [
+              0.3476227962655247,
+              0.20438589682647945,
+              1.0028376597772535
+            ],
+            "object_minus_finger_midpoint": [
+              0.005751021110110555,
+              0.01237339741993454,
+              0.0
+            ],
+            "finger_gap": 0.027289207208754107,
+            "fingertip_max_gap": 0.09162910067367688,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01364460360437708,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0028376597772535,
+            "object_top_z": 1.0527947847471988,
+            "finger_top_clearance": 0.04995712496994531,
+            "fingertip_min_top_clearance": 0.014987137490983592,
+            "object_projection_between_fingers": 0.8223488280238335,
+            "object_to_finger_line_xy": 0.01043044881758284,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048314550336838444,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4053581461131284,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 176,
+            "max_stable_success_frames": 176,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3362826304069846,
+              0.2129791042588221,
+              0.761106342369879
+            ],
+            "target_position": [
+              0.3292071804435463,
+              0.21330240322793206,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007082832371907893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22132540925375033,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106342369879,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530713401534164,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08982262918230459,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1913040092355122,
+            "release_required_pad_clearance": 0.054911314591152297,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.887529619676269,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 202,
+            "max_placed_release_frames": 202
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "89b8715442d99033acc22fe038e42cd63d94b28f74b5b1fd3f59d2d625c8acc0",
+    "visual_seed": 6249374149114724208,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07e9ce280424fedc1f8de2471a4ec5626d8f37bc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_92_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35430049734469654,
+              0.21767582502517563,
+              1.0059199357011999
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+            "current_z": 1.0059199357011999,
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+            "lift_margin": 0.14481348729107868,
+            "gripper_z": 1.0051983177901376,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3488502554709357,
+              0.2128760718398954,
+              1.0051983177901376
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+              0.0047997531852802255,
+              0.0007216179110622889
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+            "object_to_gripper_xy": 0.007262421574248083,
+            "object_to_gripper_z": 0.0007216179110622889,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35430049734469654,
+              0.19283829696763508,
+              1.0059199357011999
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+            "finger_b": [
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+              0.21767582502517563,
+              1.0059199357011999
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+            "finger_midpoint": [
+              0.34850394516947514,
+              0.20525706099640534,
+              1.0059199357011999
+            ],
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+              0.005796552175221403,
+              0.01241876402877029,
+              0.0
+            ],
+            "finger_gap": 0.02740990456914013,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854868237876138,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4582286918096383,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 179,
+            "max_stable_success_frames": 179,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2866220585114185,
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+              0.7701463897966118
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+              0.041344366408578456,
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+              0.004799283289098073,
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+            "gripper_z": 1.0289951317661976,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.24315124356751,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.0979622807262435,
+            "max_source_tilt_deg": 89.89694276157594,
+            "source_upright_tilt_deg": 2.4147941709098166,
+            "max_source_upright_tilt_deg": 89.79024381255472,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0979622807262435,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.0669426131007984e-08,
+            "max_target_xy_drift": 1.7091735819103727e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2866,
+                0.055,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_a",
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+              "source_return_effective_target_deg": 8.0,
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+              "source_return_best_wrist_position": -1.6113574504852295,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6113574504852295
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              0.055,
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0009,
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.2861,
+              0.0288,
+              1.0343
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0649,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
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+              0.4
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+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0009496312768805617,
+                -0.0010174867081713117
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.414794540801844,
+            "pour_controller_source_return_step_error_deg": 2.097950732149144,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.405259750525248,
+            "pour_controller_source_return_best_wrist_position": -1.6113574504852295,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6113574504852295,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01458598491370882,
+            "valid_pour_held_xy_dist": 0.013846734688842127,
+            "valid_pour_held_gripper_dist": 0.007299634225830975,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0296770911626152,
+            "valid_pour_source_tilt_deg": 2.0979622807262435,
+            "valid_pour_source_upright_tilt_deg": 2.4147941709098166,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.0669426131007984e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29729392965837964,
+              0.021682882078747037,
+              1.0296770911626152
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28597060037416744,
+              0.04614364969767653,
+              1.0296770911626152
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29163226501627354,
+              0.03391326588821178,
+              1.0296770911626152
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29729392965837964,
+              0.04614364969767653,
+              1.0296770911626152
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02695453465719576,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02468515682653583,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.021734819704656738,
+              -0.9991119938188012,
+              0.03609461760188082
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005942406849458259,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03762378217727596,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29729392965837964,
+              0.021682882078747037,
+              1.0296770911626152
+            ],
+            "held_grasp_finger_b": [
+              0.28597060037416744,
+              0.04614364969767653,
+              1.0296770911626152
+            ],
+            "held_grasp_midpoint": [
+              0.29163226501627354,
+              0.03391326588821178,
+              1.0296770911626152
+            ],
+            "held_grasp_object_position": [
+              0.29729392965837964,
+              0.04614364969767653,
+              1.0296770911626152
+            ],
+            "held_grasp_finger_gap": 0.02695453465719576,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02468515682653583,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.021734819704656738,
+              -0.9991119938188012,
+              0.03609461760188082
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005942406849458259,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03762378217727596,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32445712667705545,
+              0.20619615066532895,
+              0.7611106748888654
+            ],
+            "target_position": [
+              0.3299453989909864,
+              0.2126663777482294,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.008484395764941638,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21282832818227557,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611106748888654,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755683107959005,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08714730099759609,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1819785108995261,
+            "release_required_pad_clearance": 0.053573650498798045,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.147108885863666,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba52b2350e4be5977ddf150efb6e6c68797d215c98456c786a375429da5beedc",
+    "visual_seed": 6607826269708187301,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..367eecac6947a8a04801c670859f7cee3b5f258f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_93_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3020043718403752,
+              0.021982098806887427,
+              1.0321797011896443
+            ],
+            "held_grasp_finger_b": [
+              0.2902523992166483,
+              0.046372725376759634,
+              1.0321797011896443
+            ],
+            "held_grasp_midpoint": [
+              0.29612838552851173,
+              0.03417741209182353,
+              1.0321797011896443
+            ],
+            "held_grasp_object_position": [
+              0.3020043718403752,
+              0.046372725376759634,
+              1.0321797011896443
+            ],
+            "held_grasp_finger_gap": 0.027074185583684372,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024625159226969406,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.021616591601633102,
+              -0.9992003101860626,
+              0.033637227763363635
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006151783935446195,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037661708049331034,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3333186035892901,
+              0.2134892028637471,
+              0.7611071635905482
+            ],
+            "target_position": [
+              0.3281969178640111,
+              0.21556206604955722,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0055252535195783985,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22142388384147035,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611071635905482,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563992976955805,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08991342163734393,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19051063606379096,
+            "release_required_pad_clearance": 0.05495671081867197,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.982244138489446,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 204,
+            "max_placed_release_frames": 204
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88874d87851ca4e33d87e356198c73d7b817e521e43f09f0a9da552cf607ac0d",
+    "visual_seed": 2925287343137297036,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08d03480fb00fe54668d414938b7557b4dec76f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_94_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35231274514347943,
+              0.21849388280704152,
+              1.004945566993837
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+            "gripper_z": 1.004153182496056,
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+            "gripper_position": [
+              0.3472625775709832,
+              0.2135763732468955,
+              1.004153182496056
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+              0.004917509560146027,
+              0.0007923844977810734
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+              0.35231274514347943,
+              0.19418864916263673,
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+              0.21849388280704152,
+              1.004945566993837
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+              0.20634126598483912,
+              1.004945566993837
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+              0.012152616822202394,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_min_top_clearance": 0.01500212632675723,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 1.5915486142440032,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1806605600136576,
+            "release_required_pad_clearance": 0.05331453132374141,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6465895384164948,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59de8563940dbd6095bb3465ad7f456e4cf1d26b2ee7938865f1ecc6fdfb1aa7",
+    "visual_seed": 3001120419748660652,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f0e89d7f54035c5e1f3e7d86821fadca891e379
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_95_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.348185777934352,
+              0.2169422530245323,
+              1.002350662470727
+            ],
+            "current_z": 1.002350662470727,
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+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14124415445596117,
+            "gripper_z": 1.002041098232511,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21203872820398906,
+              1.002041098232511
+            ],
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+              0.005196983439713476,
+              0.004903524820543237,
+              0.0003095642382160424
+            ],
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+            "object_to_gripper_z": 0.0003095642382160424,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.348185777934352,
+              0.19237909979600504,
+              1.002350662470727
+            ],
+            "finger_b": [
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+              0.2169422530245323,
+              1.002350662470727
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+            "finger_midpoint": [
+              0.3422540168187216,
+              0.20466067641026867,
+              1.002350662470727
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+              0.012281576614263628,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010682786490103225,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841277968155559,
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+            "object_tilt_deg": 1.640567884118192,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 176,
+            "max_stable_success_frames": 176,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.054276964484386216,
+              0.7701463897966117
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+              0.04097985691254548,
+              1.03061442711252
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+              0.013297107571840737,
+              -0.2604680373159083
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+              1.0308846571123058
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+            "held_minus_target": [
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+              0.004915612957729382,
+              0.0002702299997858759
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+            "held_gripper_dist": 0.007151484571457218,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.03061442711252,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.252331017812,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
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+            "max_source_tilt_deg": 89.87611655725641,
+            "source_upright_tilt_deg": 2.395966686503788,
+            "max_source_upright_tilt_deg": 89.92130016175885,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9032506388106498,
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+            "target_xy_drift": 6.664001874625056e-08,
+            "max_target_xy_drift": 1.812804499357408e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2817,
+                0.0543,
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+              "controller_target_position": [
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+                0.0543,
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2817,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              -0.0005,
+              0.0011
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0285,
+              1.0365
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
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+              0.3,
+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                0.0013490649549529796,
+                -0.000532658733444321,
+                0.0011286439392102928
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.395930269018874,
+            "pour_controller_source_return_step_error_deg": 1.9032036219862465,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.389640549634003,
+            "pour_controller_source_return_best_wrist_position": -1.6109756231307983,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6109756231307983,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014983676269077394,
+            "valid_pour_held_xy_dist": 0.014714076283766473,
+            "valid_pour_held_gripper_dist": 0.007151484571457218,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0308846571123058,
+            "valid_pour_source_tilt_deg": 1.9032506388106498,
+            "valid_pour_source_upright_tilt_deg": 2.395966686503788,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.664001874625056e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29374877981165853,
+              0.021783065162638046,
+              1.0308846571123058
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28204542989981196,
+              0.04589546987027486,
+              1.0308846571123058
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2878971048557353,
+              0.03383926751645645,
+              1.0308846571123058
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29374877981165853,
+              0.04589546987027486,
+              1.0308846571123058
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026802545773563845,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024441008299389742,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02987888621163217,
+              -0.9991257832300993,
+              0.02923903971735442
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0062191415524841445,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03784942898071117,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29374877981165853,
+              0.021783065162638046,
+              1.0308846571123058
+            ],
+            "held_grasp_finger_b": [
+              0.28204542989981196,
+              0.04589546987027486,
+              1.0308846571123058
+            ],
+            "held_grasp_midpoint": [
+              0.2878971048557353,
+              0.03383926751645645,
+              1.0308846571123058
+            ],
+            "held_grasp_object_position": [
+              0.29374877981165853,
+              0.04589546987027486,
+              1.0308846571123058
+            ],
+            "held_grasp_finger_gap": 0.026802545773563845,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024441008299389742,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02987888621163217,
+              -0.9991257832300993,
+              0.02923903971735442
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0062191415524841445,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03784942898071117,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.32054044798745646,
+              0.20333781030377776,
+              0.7611064511273632
+            ],
+            "target_position": [
+              0.32396972327136936,
+              0.21368665653473953,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010902226712233955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21288234632387246,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064511273632,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530443602813511,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08890741548760704,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18185468581345032,
+            "release_required_pad_clearance": 0.05445370774380352,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9360342680912312,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b8899acfe4997964a27842ae1a9103443379b574f9ab615796ff66193f04d212",
+    "visual_seed": 4664512101366541446,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d410b8c9412e46be8368ea69a3101b04a2b1533
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_96_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.354378768814533,
+              0.2213464349200904,
+              1.0064772767544208
+            ],
+            "current_z": 1.0064772767544208,
+            "required_z": 0.8611063292008316,
+            "initial_z": 0.7611063292008317,
+            "lift_margin": 0.14537094755358915,
+            "gripper_z": 1.005445618338163,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3494339785585163,
+              0.21650250629828025,
+              1.005445618338163
+            ],
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+            "held_grasp_z_skew": 0.024361711320736675,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0022952880047017905,
+              -0.9996208596618397,
+              0.027438450792646396
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005462747262378955,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037514235820708314,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.33409669882028625,
+              0.21986251989395308,
+              0.7611070276039362
+            ],
+            "target_position": [
+              0.3303898729838593,
+              0.21761645173343214,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004334210419823699,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2189972689281291,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611070276039362,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558615910622972,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540954677389555,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18934502396607436,
+            "release_required_pad_clearance": 0.052704773386947776,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.46309271962751863,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8253f136ee62338b1a5a181509d76d824f9a4473913a87061f824b843d3c128",
+    "visual_seed": 5526353147763335473,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83610284ff8944a28be121f1b94b3f579ee4267b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_98_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.35299644556811965,
+              0.21932345993190283,
+              1.0055058126033978
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+              0.2145141777035248,
+              1.0044624599160472
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+              0.004809282228378037,
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+              0.19455829235476035,
+              1.0055058126033978
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+              1.0055058126033978
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+              0.2069408761433316,
+              1.0055058126033978
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+              0.012382583788571239,
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+              0.0,
+              1.0
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+            "stable_success_frames": 179,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04911052700751282,
+              0.7701465090059014
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+              0.03656751614142764,
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dae9254df98087ea63ff058ece9f0a80489e1f7a6faf4f1bef8f972133dee4ec",
+    "visual_seed": 6874231487982745101,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8b69e1dd0fb494a27bf987d8335eadb64a81695
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_99_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.35398262904147726,
+              0.21399093916075676,
+              1.004472272272365
+            ],
+            "current_z": 1.004472272272365,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14336576425759873,
+            "gripper_z": 1.0036770579637961,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3488735184454739,
+              0.2091465026821435,
+              1.0036770579637961
+            ],
+            "object_minus_gripper": [
+              0.005109110596003386,
+              0.004844436478613268,
+              0.0007952143085687702
+            ],
+            "object_to_gripper_xy": 0.007040708478378649,
+            "object_to_gripper_z": 0.0007952143085687702,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.35398262904147726,
+              0.18945500898164744,
+              1.004472272272365
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+            "finger_b": [
+              0.3422410660778201,
+              0.21399093916075676,
+              1.004472272272365
+            ],
+            "finger_midpoint": [
+              0.3481118475596487,
+              0.2017229740712021,
+              1.004472272272365
+            ],
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+              0.005870781481828569,
+              0.012267965089554661,
+              0.0
+            ],
+            "finger_gap": 0.027200664892308286,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.0544515816036402,
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+            "object_projection_between_fingers": 0.8136657101406977,
+            "object_to_finger_line_xy": 0.01059129143388595,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839874908995813,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.393990351809802,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 178,
+            "max_stable_success_frames": 178,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.05254681673520065,
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+            "required_height": 0.8001463897966118,
+            "gripper_z": 1.0298100322489279,
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+            "max_wrist_deg": 120.23927852630811,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_upright_tilt_deg": 89.67652843888784,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9585438637047672,
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+            "missing_source_orientation_samples": 0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0015,
+              0.0012,
+              0.0
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.2798,
+              0.0285,
+              1.0354
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0015398741166462058,
+                0.0011547399776740733,
+                1.5893720839185114e-05
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.6445623251029071,
+            "pour_controller_source_return_step_error_deg": 1.9586898787227993,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9465878128772576,
+            "pour_controller_source_return_best_wrist_position": -1.609581708908081,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.609581708908081,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013221660027041471,
+            "valid_pour_held_xy_dist": 0.012835651419960459,
+            "valid_pour_held_gripper_dist": 0.007087115017163705,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.030564701412846,
+            "valid_pour_source_tilt_deg": 1.9585438637047672,
+            "valid_pour_source_upright_tilt_deg": 1.6443952078789636,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.972094663188382e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2919026854529847,
+              0.020764126449331836,
+              1.030564701412846
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28080068876956066,
+              0.04520948256042317,
+              1.030564701412846
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2863516871112727,
+              0.0329868045048775,
+              1.030564701412846
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2919026854529847,
+              0.04520948256042317,
+              1.030564701412846
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026848273049803945,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02448054274565571,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0040761617171418225,
+              -0.9995881876600741,
+              0.028404929081132794
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005611504374637897,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037525232231132015,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2919026854529847,
+              0.020764126449331836,
+              1.030564701412846
+            ],
+            "held_grasp_finger_b": [
+              0.28080068876956066,
+              0.04520948256042317,
+              1.030564701412846
+            ],
+            "held_grasp_midpoint": [
+              0.2863516871112727,
+              0.0329868045048775,
+              1.030564701412846
+            ],
+            "held_grasp_object_position": [
+              0.2919026854529847,
+              0.04520948256042317,
+              1.030564701412846
+            ],
+            "held_grasp_finger_gap": 0.026848273049803945,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02448054274565571,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0040761617171418225,
+              -0.9995881876600741,
+              0.028404929081132794
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005611504374637897,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037525232231132015,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.3103554075241577,
+              0.21598461944832742,
+              0.7611093438595297
+            ],
+            "target_position": [
+              0.32978604223530716,
+              0.20911785506749497,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.020608299744035073,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20231920776394982,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611093438595297,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755176226369922,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09390686109667389,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1760991075399115,
+            "release_required_pad_clearance": 0.056953430548336945,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.411722046884178,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 575825182625704749,
+    "physical_seed": 3364008238377877894,
+    "layout_id": "layout_00002",
+    "step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "workflow_spec_digest": "ab8b7dce8de02a321406452bd2351c38e4ce17d09e6a225f51abe527b4d9dbb5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b165122b4e217148f0c638497c24c50011759aaa07ddf06e1a39103024f74d4",
+    "visual_seed": 5940901271744013409,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5345309411159085880,
+      5445981180960300046,
+      9151210094967360062
+    ],
+    "runtime_workflow_digest": "e6d1c0d5447a550887e581fcec44bd88857f8b332b855987b1f89d48ddd3a238"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9608aac358b04623e08e87a8c90c106a50358569
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00002/results/episode_9_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3496992494305554,
+              0.21669883184795316,
+              1.0036208501973571
+            ],
+            "current_z": 1.0036208501973571,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14251416336865685,
+            "gripper_z": 1.0028292600859845,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34445132619011687,
+              0.21186229528390188,
+              1.0028292600859845
+            ],
+            "object_minus_gripper": [
+              0.005247923240438546,
+              0.00483653656405128,
+              0.000791590111372642
+            ],
+            "object_to_gripper_xy": 0.007136720834734954,
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+}
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7357878a45193a3132ed2c16cb1966bc5c0b53a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..64a42b7338e77efec317666f4ef4c8f86fd9d273
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/resolved_config.yaml
@@ -0,0 +1,254 @@
+name: fast_3beaker_preloaded_mix_s03_pol_lou_00003
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into the preloaded
+    beaker c and return it upright. Place beaker a at home.
+  layout_id: layout_00003
+  reproducibility:
+    enabled: true
+    layout_id: layout_00003
+    action_seed: 8196756798222636436
+    step_seeds:
+    - 6038634529671703149
+    - 2665526681626151468
+    - 4292576788232893539
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2584
+      - 0.2584
+      'y':
+      - -0.1685
+      - -0.1685
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2349
+      - 0.2349
+      'y':
+      - 0.1721
+      - 0.1721
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_c
+    path: /World/beaker_3
+    position_range:
+      x:
+      - 0.2759
+      - 0.2759
+      'y':
+      - 0.0402
+      - 0.0402
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.0926
+      - 0.0926
+      'y':
+      - 0.4112
+      - 0.4112
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.1337
+      - 0.1337
+      'y':
+      - -0.4339
+      - -0.4339
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_c
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..29a935dc1598febd4da3a905dbced282a3432fce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_0_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2793065683400485,
+              -0.16261552788931577,
+              1.0015951192780563
+            ],
+            "current_z": 1.0015951192780563,
+            "required_z": 0.8611066642880627,
+            "initial_z": 0.7611066642880627,
+            "lift_margin": 0.14048845498999363,
+            "gripper_z": 1.003307085306727,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2751455380069058,
+              -0.16682496704391475,
+              1.003307085306727
+            ],
+            "object_minus_gripper": [
+              0.004161030333142746,
+              0.004209439154598982,
+              -0.0017119660286706306
+            ],
+            "object_to_gripper_xy": 0.005918914717209991,
+            "object_to_gripper_z": -0.0017119660286706306,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2793065683400485,
+              -0.18672659324736907,
+              1.0015951192780563
+            ],
+            "finger_b": [
+              0.2689708209159677,
+              -0.16261552788931577,
+              1.0015951192780563
+            ],
+            "finger_midpoint": [
+              0.2741386946280081,
+              -0.17467106056834242,
+              1.0015951192780563
+            ],
+            "object_minus_finger_midpoint": [
+              0.005167873712040416,
+              0.012055532679026648,
+              0.0
+            ],
+            "finger_gap": 0.02623301636325322,
+            "fingertip_max_gap": 0.09208306873013339,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01311650818162661,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0015951192780563,
+            "object_top_z": 1.0514710455508172,
+            "finger_top_clearance": 0.04987592627276083,
+            "fingertip_min_top_clearance": 0.01496277788182828,
+            "object_projection_between_fingers": 0.8447658330341292,
+            "object_to_finger_line_xy": 0.009499703664098176,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048541534365066696,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0109575983806685,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.29393065633173293,
+              0.03914324537108825,
+              0.7701463817363932
+            ],
+            "gripper_position": [
+              0.29345576774796117,
+              0.002531713511735284,
+              1.0259946478109203
+            ],
+            "target_minus_gripper": [
+              0.0004748885837717598,
+              0.036611531859352967,
+              -0.25584826607452715
+            ],
+            "held_position": [
+              0.29759131323059,
+              0.006711751064219068,
+              1.0241906641642444
+            ],
+            "held_minus_target": [
+              0.0036606568988570842,
+              -0.03243149430686918,
+              0.25404428242785126
+            ],
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+              0.004180037552483784,
+              -0.0018039836466758885
+            ],
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+            "held_gripper_dist": 0.006150594066961377,
+            "max_held_gripper_dist": 0.006222068063354058,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463817363932,
+            "held_z": 1.0241906641642444,
+            "required_height": 0.8001463817363932,
+            "gripper_z": 1.0259946478109203,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.3863051783818,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 2.87640118506326,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.0116649375473283,
+            "max_source_tilt_deg": 89.81174650934277,
+            "source_upright_tilt_deg": 3.264758961090509,
+            "max_source_upright_tilt_deg": 89.9249061006625,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0116649375473283,
+            "source_upright_return_tilt_deg": 3.264758961090509,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.8328809125387323e-08,
+            "max_target_xy_drift": 1.0768116579661405e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.03956468095346819,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 9.078147519024578e-05,
+            "max_target_tilt_deg": 0.00018159506552193008,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2939,
+                0.0391,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.2939,
+                0.0391,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0017,
+                0.0008,
+                -0.0
+              ],
+              "controller_last_pour_pose_position": [
+                0.2956,
+                0.0148,
+                1.0353
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
+                0.0904
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  0.0016968266869883232,
+                  0.0008404512449640411,
+                  -9.247127239718315e-06
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.264749868576533,
+              "source_return_step_error_deg": 2.011647694857055,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 3.2585014173262588,
+              "source_return_best_wrist_position": -1.6098353862762451,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6098353862762451
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2939,
+              0.0391,
+              0.7701
+            ],
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0017,
+              0.0008,
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+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.2956,
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+              1.0353
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
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+            ],
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0016968266869883232,
+                0.0008404512449640411,
+                -9.247127239718315e-06
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.264749868576533,
+            "pour_controller_source_return_step_error_deg": 2.011647694857055,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.2585014173262588,
+            "pour_controller_source_return_best_wrist_position": -1.6098353862762451,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6098353862762451,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03661461162234845,
+            "valid_pour_held_xy_dist": 0.03263743604984371,
+            "valid_pour_held_gripper_dist": 0.006150594066961377,
+            "valid_pour_required_height": 0.8001463817363932,
+            "valid_pour_held_z": 1.0241906641642444,
+            "valid_pour_source_tilt_deg": 2.0116649375473283,
+            "valid_pour_source_upright_tilt_deg": 3.264758961090509,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.8328809125387323e-08,
+            "valid_pour_target_tilt_deg": 9.078147519024578e-05,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29759131323059,
+              -0.016776959305918115,
+              1.0241906641642444
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2871473909193807,
+              0.006711751064219068,
+              1.0241906641642444
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2923693520749854,
+              -0.0050326041208495235,
+              1.0241906641642444
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29759131323059,
+              0.006711751064219068,
+              1.0241906641642444
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025705933713731657,
+            "valid_pour_held_grasp_max_gap": 0.12498321145772934,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02392189075209269,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04512687222622208,
+              -0.9983770430507973,
+              0.034739679218793174
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005760802176862259,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04749160572886467,
+            "valid_pour_held_grasp_object_top_z": 0.04972075670957565,
+            "valid_pour_held_grasp_top_clearance": 0.03823111288120784,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916227012872695,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29759131323059,
+              -0.016776959305918115,
+              1.0241906641642444
+            ],
+            "held_grasp_finger_b": [
+              0.2871473909193807,
+              0.006711751064219068,
+              1.0241906641642444
+            ],
+            "held_grasp_midpoint": [
+              0.2923693520749854,
+              -0.0050326041208495235,
+              1.0241906641642444
+            ],
+            "held_grasp_object_position": [
+              0.29759131323059,
+              0.006711751064219068,
+              1.0241906641642444
+            ],
+            "held_grasp_finger_gap": 0.025705933713731657,
+            "held_grasp_max_gap": 0.12498321145772934,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02392189075209269,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04512687222622208,
+              -0.9983770430507973,
+              0.034739679218793174
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005760802176862259,
+            "held_grasp_line_xy_max_dist": 0.04749160572886467,
+            "held_grasp_object_top_z": 0.04972075670957565,
+            "held_grasp_top_clearance": 0.03823111288120784,
+            "held_grasp_min_top_clearance": 0.014916227012872695,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23946130381208044,
+              -0.14622131698611623,
+              0.7611091994635922
+            ],
+            "target_position": [
+              0.2572345761454149,
+              -0.16660245898391154,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.027042192192371677,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2082390440204259,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611091994635922,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08412439585191472,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09367727449537448,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18511627431142377,
+            "release_required_pad_clearance": 0.05683863724768724,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.14006486877953,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 184,
+            "max_placed_release_frames": 184
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc81679359248c0c4d5634ec90482ac727a61d7e92beaa0a038e0910aa97d4b0",
+    "visual_seed": 568487470297364160,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..927439007c38b760b51bffb895991414a1b54a4e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_100_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27808176823128944,
+              -0.16233076793176732,
+              1.0028201888622856
+            ],
+            "current_z": 1.0028201888622856,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14171368084751945,
+            "gripper_z": 1.0044622904546625,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27463009719821185,
+              -0.16616182548599545,
+              1.0044622904546625
+            ],
+            "object_minus_gripper": [
+              0.0034516710330775857,
+              0.0038310575542281344,
+              -0.0016421015923768767
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06158741766264933,
+              -0.9975143691008213,
+              0.03423555787535803
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005581340587148612,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03851785919312602,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23902030109838607,
+              -0.154905317077057,
+              0.7611065248976289
+            ],
+            "target_position": [
+              0.2566992153392253,
+              -0.16738865445066364,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.021642035965182035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2072424726357873,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065248976289,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0785600049977974,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08999675049739948,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18254595649028296,
+            "release_required_pad_clearance": 0.054998375248699743,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.070871220114353,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dabc1a778d562c45167fe3435259fa93666dbcaec483531506232f472d9614f1",
+    "visual_seed": 1439701253587858567,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_103_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2184f94aecbbcf0b30076cc8f07fc70010b1aa2f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_103_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.27937052495856446,
+              -0.16696586255454074,
+              1.0039762949547848
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+              -0.17091438155421051,
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+              0.27937052495856446,
+              -0.19028566103727054,
+              1.0039762949547848
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+              -0.16696586255454074,
+              1.0039762949547848
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+              0.2741339637555146,
+              -0.17862576179590564,
+              1.0039762949547848
+            ],
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+              0.011659899241364902,
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+            "object_to_finger_line_xy": 0.009553849841561197,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04502378296726205,
+              0.7701464494012566
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+              0.007951335651002714,
+              1.0378074834448627
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+            "held_minus_target": [
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+              0.26641516330533266
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d9f4c6a57ba7f037b4d4172c541cd54a9205500936e3727afaddc3e3d2a45b1",
+    "visual_seed": 5015563221183133835,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_104_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c62e412c6f1087be0639c5497910c7e10595ed5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_104_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2762229540938006,
+              -0.161123793777067,
+              1.0040714257225987
+            ],
+            "current_z": 1.0040714257225987,
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+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14296491770783248,
+            "gripper_z": 1.0058495682910573,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2726802053019568,
+              -0.16503990730207024,
+              1.0058495682910573
+            ],
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+              0.003542748791843797,
+              0.003916113525003234,
+              -0.0017781425684586516
+            ],
+            "object_to_gripper_xy": 0.005280815670218375,
+            "object_to_gripper_z": -0.0017781425684586516,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2762229540938006,
+              -0.18467402971932412,
+              1.0040714257225987
+            ],
+            "finger_b": [
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+              -0.161123793777067,
+              1.0040714257225987
+            ],
+            "finger_midpoint": [
+              0.271145459303063,
+              -0.17289891174819555,
+              1.0040714257225987
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01177511797112854,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009324991989475208,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04951813076294016,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.29502950227324415,
+              0.03985380646460511,
+              0.770146330191967
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+            "gripper_position": [
+              0.2901314580100305,
+              0.0033430332245049793,
+              1.037764423957931
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+              0.03651077324010013,
+              -0.2676180937659639
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+              0.007161907220471315,
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+            "held_minus_target": [
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+              0.26580314012647366
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+              0.003818873995966336,
+              -0.0018149536394902466
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+            "held_gripper_dist": 0.005558113051405504,
+            "max_held_gripper_dist": 0.005645759770456397,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
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+            "required_height": 0.800146330191967,
+            "gripper_z": 1.037764423957931,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.13410044327908,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.1485294917015993,
+            "max_source_tilt_deg": 89.69621615434612,
+            "source_upright_tilt_deg": 3.9868397340337265,
+            "max_source_upright_tilt_deg": 89.73846786391493,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.1485294917015993,
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+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 1.2013700229374393e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0399,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0399,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+                1.035
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+              "controller_t": 0.0,
+              "source_size": [
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6033412218093872
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0004
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+              1.035
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0009459798067375509,
+                -0.001672514313739947,
+                -0.00036962486690715005
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.986835561966855,
+            "pour_controller_source_return_step_error_deg": 2.1485011801879663,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.980050739114674,
+            "pour_controller_source_return_best_wrist_position": -1.6033412218093872,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6033412218093872,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03683785281737268,
+            "valid_pour_held_xy_dist": 0.03271735819122352,
+            "valid_pour_held_gripper_dist": 0.005558113051405504,
+            "valid_pour_required_height": 0.800146330191967,
+            "valid_pour_held_z": 1.0359494703184406,
+            "valid_pour_source_tilt_deg": 2.1485294917015993,
+            "valid_pour_source_upright_tilt_deg": 3.9868397340337265,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 0.0,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29373905629443486,
+              -0.016028378565626385,
+              1.0359494703184406
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28398829771440265,
+              0.007161907220471315,
+              1.0359494703184406
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.28886367700441873,
+              -0.004433235672577535,
+              1.0359494703184406
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29373905629443486,
+              0.007161907220471315,
+              1.0359494703184406
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025156840972724633,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02371169852864664,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05922943642152422,
+              -0.997580056005073,
+              0.03641298837096674
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005569220785652425,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03844193274114939,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29373905629443486,
+              -0.016028378565626385,
+              1.0359494703184406
+            ],
+            "held_grasp_finger_b": [
+              0.28398829771440265,
+              0.007161907220471315,
+              1.0359494703184406
+            ],
+            "held_grasp_midpoint": [
+              0.28886367700441873,
+              -0.004433235672577535,
+              1.0359494703184406
+            ],
+            "held_grasp_object_position": [
+              0.29373905629443486,
+              0.007161907220471315,
+              1.0359494703184406
+            ],
+            "held_grasp_finger_gap": 0.025156840972724633,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02371169852864664,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05922943642152422,
+              -0.997580056005073,
+              0.03641298837096674
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005569220785652425,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03844193274114939,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2571105898182888,
+              -0.16021361364535516,
+              0.7611064453208277
+            ],
+            "target_position": [
+              0.25426469158813897,
+              -0.1636025777366621,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004425405557521015,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2176660265121926,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064453208277,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543850301981572,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502557707887672,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18944804419807762,
+            "release_required_pad_clearance": 0.05251278853943836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691328408316877,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f31e659283ef89c0ee36d89b95181ddf38d920afe52dabd904f077caafe8ef2",
+    "visual_seed": 734689029945750369,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_106_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..854e7728eb04e110e19a3e8876fe08bd6daecca9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_106_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2786331548606693,
+              -0.1673780780821856,
+              1.0011852439256157
+            ],
+            "current_z": 1.0011852439256157,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14007873591084974,
+            "gripper_z": 1.0028278328743068,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2749781823265597,
+              -0.17133694409715047,
+              1.0028278328743068
+            ],
+            "object_minus_gripper": [
+              0.003654972534109624,
+              0.003958866014964868,
+              -0.0016425889486910705
+            ],
+            "object_to_gripper_xy": 0.005388083550720009,
+            "object_to_gripper_z": -0.0016425889486910705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2786331548606693,
+              -0.1910694799601436,
+              1.0011852439256157
+            ],
+            "finger_b": [
+              0.26850796011342803,
+              -0.1673780780821856,
+              1.0011852439256157
+            ],
+            "finger_midpoint": [
+              0.27357055748704867,
+              -0.1792237790211646,
+              1.0011852439256157
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050625973736206364,
+              0.011845700938978992,
+              0.0
+            ],
+            "finger_gap": 0.025764356999787,
+            "fingertip_max_gap": 0.09338095843172725,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0128821784998935,
+            "object_to_finger_midpoint_z": 0.0,
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+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23608320205731415,
+              -0.14624354311978183,
+              0.7611120547463766
+            ],
+            "target_position": [
+              0.25652476399702345,
+              -0.17112290673031563,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.03220000292236207,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20570210317850127,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611120547463766,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08776036813372082,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08880629091602595,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18374443090683748,
+            "release_required_pad_clearance": 0.054403145458012975,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.831624534514311,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3baa241d1be24fbfbdf57c437dc31c8bd3368d383b71c3632390a61e900228f3",
+    "visual_seed": 2612267747775741121,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_107_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4014fdd37f9873f6c07c79e2b4e32ce05620e62d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_107_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              1.0
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "target_position": [
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+            "wrist_idx": 5,
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+            "max_wrist_deg": 120.06917266502894,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2c9f77ec2ffd50722bacadf1e6b447e058ee141358a80a12cb43b54f17a20c5",
+    "visual_seed": 7985489239462088486,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_109_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8e6fae95c906b47b8725442135a8b89ef83d1ce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_109_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              1.0044363596474235
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+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14332979202801266,
+            "gripper_z": 1.0053576735153598,
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+            "gripper_position": [
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+              -0.16968801518273002,
+              1.0053576735153598
+            ],
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+              0.0039594508195376354,
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+            "object_to_gripper_z": -0.0009213138679362576,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.18908173746680842,
+              1.0044363596474235
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+            "finger_b": [
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+              -0.1657285643631924,
+              1.0044363596474235
+            ],
+            "finger_midpoint": [
+              0.27688950057495,
+              -0.17740515091500042,
+              1.0044363596474235
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+              0.011676586551808033,
+              0.0
+            ],
+            "finger_gap": 0.025595802123398056,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009559334865619166,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.03998009008043266,
+              0.7701463301919668
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+            "gripper_position": [
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+              0.0031113064945682417,
+              1.0383216381525544
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+              0.03686878358586442,
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+              0.006967248836325372,
+              1.0373690464621026
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+            "held_minus_target": [
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+              0.26722271627013583
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+              0.0038559423417571306,
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+            "missing_held_position_samples": 0,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.03020643581402,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.94514002771731,
+            "source_upright_tilt_deg": 3.1007880178859795,
+            "max_source_upright_tilt_deg": 89.85976748459073,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9038183920552296,
+            "source_upright_return_tilt_deg": 3.1007880178859795,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.0978193283081055e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.04,
+                0.7701
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+              "controller_target_position": [
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+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "wrist_dof_index": 5,
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+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                  0.2
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
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+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.00025459810937593147,
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.1007816424187173,
+            "pour_controller_source_return_step_error_deg": 1.903807755731556,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.096084079068799,
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+            "pour_controller_wrist_compensated_return_position": -1.6029685735702515,
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.037044950996899945,
+            "valid_pour_held_xy_dist": 0.0330128749986299,
+            "valid_pour_held_gripper_dist": 0.0053346450374524065,
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+            "valid_pour_held_z": 1.0373690464621026,
+            "valid_pour_source_tilt_deg": 1.9038183920552296,
+            "valid_pour_source_upright_tilt_deg": 3.1007880178859795,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.0978193283081055e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3025547060092671,
+              -0.0162927572523725,
+              1.0373690464621026
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2927603703615834,
+              0.006967248836325372,
+              1.0373690464621026
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2976575381854253,
+              -0.0046627542080235635,
+              1.0373690464621026
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3025547060092671,
+              0.006967248836325372,
+              1.0373690464621026
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02523800495335852,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02362396578412359,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.040637144578079105,
+              -0.9985359359664147,
+              0.03570163951720973
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005381499218860201,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038306281011794424,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3025547060092671,
+              -0.0162927572523725,
+              1.0373690464621026
+            ],
+            "held_grasp_finger_b": [
+              0.2927603703615834,
+              0.006967248836325372,
+              1.0373690464621026
+            ],
+            "held_grasp_midpoint": [
+              0.2976575381854253,
+              -0.0046627542080235635,
+              1.0373690464621026
+            ],
+            "held_grasp_object_position": [
+              0.3025547060092671,
+              0.006967248836325372,
+              1.0373690464621026
+            ],
+            "held_grasp_finger_gap": 0.02523800495335852,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02362396578412359,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.040637144578079105,
+              -0.9985359359664147,
+              0.03570163951720973
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005381499218860201,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038306281011794424,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26083218365214833,
+              -0.16520666587441712,
+              0.7611063997206853
+            ],
+            "target_position": [
+              0.2595157128732168,
+              -0.16795632203683974,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0030485577447916775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21782792533202205,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063997206853,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568034074868964,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08692213481617848,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18903307727416427,
+            "release_required_pad_clearance": 0.053461067408089244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9354599518784101,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 195,
+            "max_placed_release_frames": 195
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9fe654b7c6546a0f7e86aac8bedfd107531fc091820824dbd7201a2c6097ab61",
+    "visual_seed": 5234311398519590260,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..213e0adc089c48e574aba5bccb2b606bb4231cfa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_10_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2781043594644313,
+              -0.1614657876668602,
+              1.0041437888318285
+            ],
+            "current_z": 1.0041437888318285,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1430372212124177,
+            "gripper_z": 1.0049596933397649,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27440695291269834,
+              -0.1654369001198065,
+              1.0049596933397649
+            ],
+            "object_minus_gripper": [
+              0.0036974065517329513,
+              0.0039711124529462904,
+              -0.0008159045079363381
+            ],
+            "object_to_gripper_xy": 0.005425914607026437,
+            "object_to_gripper_z": -0.0008159045079363381,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2781043594644313,
+              -0.18519550582624295,
+              1.0041437888318285
+            ],
+            "finger_b": [
+              0.2680113458565688,
+              -0.1614657876668602,
+              1.0041437888318285
+            ],
+            "finger_midpoint": [
+              0.27305785266050003,
+              -0.17333064674655158,
+              1.0041437888318285
+            ],
+            "object_minus_finger_midpoint": [
+              0.005046506803931261,
+              0.01186485907969137,
+              0.0
+            ],
+            "finger_gap": 0.025786982134639893,
+            "fingertip_max_gap": 0.093036540567078,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012893491067319946,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0041437888318285,
+            "object_top_z": 1.0540809265398454,
+            "finger_top_clearance": 0.04993713770801689,
+            "fingertip_min_top_clearance": 0.014981141312405083,
+            "object_projection_between_fingers": 0.8468063799804515,
+            "object_to_finger_line_xy": 0.00928780138144447,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049018270283539,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8358101195806666,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24809491007237508,
+              -0.14821000504536286,
+              0.7611072917615511
+            ],
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+              0.2564078237151632,
+              -0.16500673715114417,
+              0.7774145980897915
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21212668805890006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
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+            "min_z": 0.5774145980897916,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18773356871849767,
+            "release_required_pad_clearance": 0.05413853482146004,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2894585084444725,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e227753ccd6f9f2ea807f234c0de69d549377f6b957c33786604cac4951d8acb",
+    "visual_seed": 7061750912554039266,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_110_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6421b08f2dc9a0d246af95ccc2dbdafcfd5e84e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_110_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+          }
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 7.028863677424642e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9dfccfb750a898079fca379af69d0e1eff4b3f43b92325b2ad38767f624257f1",
+    "visual_seed": 7400777626964486318,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_111_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..552d95b167d792d2911ac216b7b514da95339ae9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_111_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+              1.0017702207988894
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+            "stable_success_frames": 161,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.0051073770798222284,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_axis_frame": "end_effector",
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_source_tilt_deg": 0.7718871713486697,
+            "valid_pour_source_upright_tilt_deg": 3.756084287370175,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.5359765386647212e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.30140318898829677,
+              -0.01434518471517993,
+              1.03636899540763
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.290962104136537,
+              0.009177868320276356,
+              1.03636899540763
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2961826465624169,
+              -0.0025836581974517867,
+              1.03636899540763
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.30140318898829677,
+              0.009177868320276356,
+              1.03636899540763
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02573616671127494,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024139798800598376,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.06390847805944126,
+              -0.9978519762316906,
+              0.014392357785838363
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005963866164547076,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03831762451196133,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30140318898829677,
+              -0.01434518471517993,
+              1.03636899540763
+            ],
+            "held_grasp_finger_b": [
+              0.290962104136537,
+              0.009177868320276356,
+              1.03636899540763
+            ],
+            "held_grasp_midpoint": [
+              0.2961826465624169,
+              -0.0025836581974517867,
+              1.03636899540763
+            ],
+            "held_grasp_object_position": [
+              0.30140318898829677,
+              0.009177868320276356,
+              1.03636899540763
+            ],
+            "held_grasp_finger_gap": 0.02573616671127494,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024139798800598376,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06390847805944126,
+              -0.9978519762316906,
+              0.014392357785838363
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005963866164547076,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03831762451196133,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24515625828926355,
+              -0.15429686916756088,
+              0.761109873506517
+            ],
+            "target_position": [
+              0.26024660508441044,
+              -0.17187621064584035,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.023167904808328206,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20553206827071083,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761109873506517,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08192884453969405,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640843654604007,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18190528353578297,
+            "release_required_pad_clearance": 0.053204218273020035,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4287258917892955,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 188,
+            "max_placed_release_frames": 188
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75442405ea50e3c4c7c48b446592e523a800e9215e0ea6ad958962702661299b",
+    "visual_seed": 7142280760657488935,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_112_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ccdc80a7e1a8f0e6f434659fe9ed212c69a6501
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_112_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27743387818616505,
+              -0.16801142393164517,
+              1.0017144302150385
+            ],
+            "current_z": 1.0017144302150385,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1406079818049173,
+            "gripper_z": 1.0033928277062196,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27405581172549787,
+              -0.1718852530476662,
+              1.0033928277062196
+            ],
+            "object_minus_gripper": [
+              0.003378066460667184,
+              0.0038738291160210214,
+              -0.0016783974911811494
+            ],
+            "object_to_gripper_xy": 0.005139833171691152,
+            "object_to_gripper_z": -0.0016783974911811494,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27743387818616505,
+              -0.19153601862433112,
+              1.0017144302150385
+            ],
+            "finger_b": [
+              0.2674324108792318,
+              -0.16801142393164517,
+              1.0017144302150385
+            ],
+            "finger_midpoint": [
+              0.2724331445326984,
+              -0.17977372127798813,
+              1.0017144302150385
+            ],
+            "object_minus_finger_midpoint": [
+              0.005000733653466649,
+              0.01176229734634296,
+              0.0
+            ],
+            "finger_gap": 0.025562392371349014,
+            "fingertip_max_gap": 0.09349360718769023,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012781196185674505,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0017144302150385,
+            "object_top_z": 1.0516495740880232,
+            "finger_top_clearance": 0.0499351438729847,
+            "fingertip_min_top_clearance": 0.014980543161895376,
+            "object_projection_between_fingers": 0.8469178878630849,
+            "object_to_finger_line_xy": 0.009204164512843557,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04924680359384512,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.4230238439066905,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
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+                "split_aloha",
+                "tool_center",
+                "ur16e",
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+                "wrist",
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+                "wrist_2_joint",
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+                "ground",
+                "groundplane",
+                "link0",
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+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24319601998885548,
+              -0.15658874503857814,
+              0.7611155916885913
+            ],
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+              0.25518870296259705,
+              -0.17165388937231704,
+              0.7774145980897915
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+            "xy_threshold": 0.08,
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+            "gripper_away_ok": true,
+            "object_z": 0.7611155916885913,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08838239474309291,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1828301156056396,
+            "release_required_pad_clearance": 0.05419119737154646,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3770289530139204,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1471b1a4553ba13047ab05da92171b7b6ca544cbd526607bb060d1bd51b82bc",
+    "visual_seed": 7196262277602987114,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_113_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61296cb8f584320ac4fc8f560c5d2e6c3d2acfcb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_113_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.62789854035337,
+            "source_upright_tilt_deg": 4.408605628501983,
+            "max_source_upright_tilt_deg": 89.82165105482808,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.313225746154785e-08,
+            "max_target_xy_drift": 1.4831147518677438e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e9ccdae926d29ee18fb4303d9cd8b137095bf617498c3415864eaff9037cad2",
+    "visual_seed": 220113394499587548,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_114_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd97f14a683063d27fa267752f613303a82639bc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_114_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.001841525872309
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+              1.001841525872309
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+              -0.1754219388936289,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+              "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.0021210611476183555,
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+            "max_source_tilt_deg": 89.95445674248649,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+              1.037317045594754
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29147428366890954,
+              -0.005585170070564087,
+              1.037317045594754
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29644267786697087,
+              0.006030417527591788,
+              1.037317045594754
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02526711824943732,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023578841921713597,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.038171287551841834,
+              -0.9986383262344223,
+              0.0355590520451059
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005423647848166127,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03831012911644847,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29644267786697087,
+              -0.017200757668719962,
+              1.037317045594754
+            ],
+            "held_grasp_finger_b": [
+              0.2865058894708482,
+              0.006030417527591788,
+              1.037317045594754
+            ],
+            "held_grasp_midpoint": [
+              0.29147428366890954,
+              -0.005585170070564087,
+              1.037317045594754
+            ],
+            "held_grasp_object_position": [
+              0.29644267786697087,
+              0.006030417527591788,
+              1.037317045594754
+            ],
+            "held_grasp_finger_gap": 0.02526711824943732,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023578841921713597,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.038171287551841834,
+              -0.9986383262344223,
+              0.0355590520451059
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005423647848166127,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03831012911644847,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24276225462453063,
+              -0.15373437055279263,
+              0.7611085774423684
+            ],
+            "target_position": [
+              0.2555614155635112,
+              -0.16817573827787688,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01929693298203191,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2100067455195584,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611085774423684,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08028904596373104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626274344849787,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18482269841713328,
+            "release_required_pad_clearance": 0.053131371724248935,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2881391956000523,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8775b8fbd4cc4f0e4aa054c3b44842920107d5c00da4cb8b0e36f4e65261e96f",
+    "visual_seed": 4110635319222744444,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_115_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85dce02eade6fe181d034d2de3697549de754cdb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_115_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2763856153874477,
+              -0.15899645621684835,
+              1.0034036890637539
+            ],
+            "current_z": 1.0034036890637539,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1422972406536327,
+            "gripper_z": 1.004781238231631,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2728661528899315,
+              -0.16296734008442787,
+              1.004781238231631
+            ],
+            "object_minus_gripper": [
+              0.0035194624975162236,
+              0.003970883867579517,
+              -0.0013775491678771346
+            ],
+            "object_to_gripper_xy": 0.005306084711086546,
+            "object_to_gripper_z": -0.0013775491678771346,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2763856153874477,
+              -0.18240714310437633,
+              1.0034036890637539
+            ],
+            "finger_b": [
+              0.26593266355707634,
+              -0.15899645621684835,
+              1.0034036890637539
+            ],
+            "finger_midpoint": [
+              0.271159139472262,
+              -0.17070179966061233,
+              1.0034036890637539
+            ],
+            "object_minus_finger_midpoint": [
+              0.005226475915185713,
+              0.011705343443763977,
+              0.0
+            ],
+            "finger_gap": 0.025638339698856063,
+            "fingertip_max_gap": 0.09333707322778098,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01281916984942803,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0034036890637539,
+            "object_top_z": 1.0531856570826708,
+            "finger_top_clearance": 0.04978196801891688,
+            "fingertip_min_top_clearance": 0.01493459040567508,
+            "object_projection_between_fingers": 0.8337743257718068,
+            "object_to_finger_line_xy": 0.00954472033780548,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04916853661389049,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2171427937499977,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
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+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2517530202908286,
+              -0.16208333540386813,
+              0.7611117435925312
+            ],
+            "target_position": [
+              0.25371445391221537,
+              -0.16421043007106398,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.002893398274403217,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21293952181099413,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611117435925312,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553321627937142,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08773805051603488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18449790905136956,
+            "release_required_pad_clearance": 0.05386902525801744,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7265516324196506,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e2e19e2137b3234f8f2d4618db7988ddc966e3b41115bc356e8966e2e32c2af",
+    "visual_seed": 483142487541940576,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_116_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b95e525b79a7a71d2da7d22161071b2e963f43c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_116_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2791417441909138,
+              -0.16583001533894443,
+              1.0010378537813382
+            ],
+            "current_z": 1.0010378537813382,
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+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.13993140537121684,
+            "gripper_z": 1.0028905950259763,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.16984742562355626,
+              1.0028905950259763
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+              0.004017410284611833,
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+            "object_to_gripper_z": -0.0018527412446380787,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2791417441909138,
+              -0.18942898322827956,
+              1.0010378537813382
+            ],
+            "finger_b": [
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+              -0.16583001533894443,
+              1.0010378537813382
+            ],
+            "finger_midpoint": [
+              0.2739556209372429,
+              -0.177629499283612,
+              1.0010378537813382
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011799483944667566,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009495548387469799,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04940963326240759,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5612892957907345,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04120915275686241,
+              0.7701463301919669
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+              0.004731787693618664,
+              1.0382288875208143
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+              0.003911669464277854,
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+            "required_height": 0.8001463301919669,
+            "gripper_z": 1.0382288875208143,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.07681564671019,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 3.4675209064186645,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.0856963786556206,
+            "max_source_tilt_deg": 89.89117359133304,
+            "source_upright_tilt_deg": 3.6597455947684714,
+            "max_source_upright_tilt_deg": 89.77692491174697,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0856963786556206,
+            "source_upright_return_tilt_deg": 3.6597455947684714,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.215859231988326e-08,
+            "max_target_xy_drift": 1.4102081381341592e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3027,
+                0.0412,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0412,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              ],
+              "height_range_2": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+                  -0.0002928172595588192,
+                  -0.00030669125687915423
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.659736690030274,
+              "source_return_step_error_deg": 2.085692480817093,
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 3.6520781886124487,
+              "source_return_best_wrist_position": -1.6049131155014038,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6049131155014038
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              0.0412,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+              0.0412,
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0003,
+              -0.0003
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0157,
+              1.035
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0002928172595588192,
+                -0.00030669125687915423
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.659736690030274,
+            "pour_controller_source_return_step_error_deg": 2.085692480817093,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.6520781886124487,
+            "pour_controller_source_return_best_wrist_position": -1.6049131155014038,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6049131155014038,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03685411460790641,
+            "valid_pour_held_xy_dist": 0.03260086842689139,
+            "valid_pour_held_gripper_dist": 0.005733079585163201,
+            "valid_pour_required_height": 0.8001463301919669,
+            "valid_pour_held_z": 1.036341361965496,
+            "valid_pour_source_tilt_deg": 2.0856963786556206,
+            "valid_pour_source_upright_tilt_deg": 3.6597455947684714,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.215859231988326e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.30120191307812116,
+              -0.014616083249948371,
+              1.036341361965496
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2912672731632202,
+              0.008643457157896517,
+              1.036341361965496
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2962345931206707,
+              -0.002986313046025927,
+              1.036341361965496
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.30120191307812116,
+              0.008643457157896517,
+              1.036341361965496
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025292356359637835,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02373755607283061,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05289053082099816,
+              -0.9979607200831505,
+              0.035735037716403954
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005590589846356714,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038376920412294346,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30120191307812116,
+              -0.014616083249948371,
+              1.036341361965496
+            ],
+            "held_grasp_finger_b": [
+              0.2912672731632202,
+              0.008643457157896517,
+              1.036341361965496
+            ],
+            "held_grasp_midpoint": [
+              0.2962345931206707,
+              -0.002986313046025927,
+              1.036341361965496
+            ],
+            "held_grasp_object_position": [
+              0.30120191307812116,
+              0.008643457157896517,
+              1.036341361965496
+            ],
+            "held_grasp_finger_gap": 0.025292356359637835,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02373755607283061,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05289053082099816,
+              -0.9979607200831505,
+              0.035735037716403954
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005590589846356714,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038376920412294346,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2331609487411973,
+              -0.13911983539067502,
+              0.7611064599929181
+            ],
+            "target_position": [
+              0.2568921735665917,
+              -0.1681162805441687,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.03746951912225433,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20352687576667686,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064599929181,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.09060664145778585,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859506116784561,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18319833140538178,
+            "release_required_pad_clearance": 0.05297530583922805,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9851556470878169,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 176,
+            "max_placed_release_frames": 176
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b85cac1276b20a8a42993ddb5bc9ad89bb1e14e881f8283d775d51ae181d8b1d",
+    "visual_seed": 7323350554013835466,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_117_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..368bee866f996956078ed27e3d929f1ee649ca54
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_117_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+          "failure_messages": {},
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.06517956504880745,
+              -0.9977787826556141,
+              0.013752279168530501
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005827014948511446,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03833923293054063,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2962841791245609,
+              -0.017719438255042172,
+              1.0369363269908796
+            ],
+            "held_grasp_finger_b": [
+              0.28614303238961974,
+              0.005755735019385918,
+              1.0369363269908796
+            ],
+            "held_grasp_midpoint": [
+              0.2912136057570903,
+              -0.005981851617828127,
+              1.0369363269908796
+            ],
+            "held_grasp_object_position": [
+              0.2962841791245609,
+              0.005755735019385918,
+              1.0369363269908796
+            ],
+            "held_grasp_finger_gap": 0.025571988920770915,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024084025345668066,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06517956504880745,
+              -0.9977787826556141,
+              0.013752279168530501
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005827014948511446,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03833923293054063,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26365075399731125,
+              -0.16746687624133388,
+              0.7611062017512332
+            ],
+            "target_position": [
+              0.26244446771597835,
+              -0.16828643565808601,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.001458356688234759,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21866440343573867,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611062017512332,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533077889842647,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08767119420331455,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19005361655893752,
+            "release_required_pad_clearance": 0.05383559710165728,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.680550062264392,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 196,
+            "max_placed_release_frames": 196
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 117,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "578e2f056c96f5da5d0afb3388a4bf60dd8f0576c2820ebd8e99b1cb4c55d5f1",
+    "visual_seed": 6638734028140473058,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_118_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbe4a833daf67c60cdf8ba4754d33f5231a43b9d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_118_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2788538301810127,
+              -0.16379415392223193,
+              1.0051454671583886
+            ],
+            "current_z": 1.0051454671583886,
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+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.14403895914362286,
+            "gripper_z": 1.0060619987202637,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27547021297096613,
+              -0.16764541238208566,
+              1.0060619987202637
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+              0.003383617210046541,
+              0.0038512584598537347,
+              -0.0009165315618751002
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+            "object_to_gripper_xy": 0.0051265053544025585,
+            "object_to_gripper_z": -0.0009165315618751002,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2788538301810127,
+              -0.1872218748478858,
+              1.0051454671583886
+            ],
+            "finger_b": [
+              0.26876122894986343,
+              -0.16379415392223193,
+              1.0051454671583886
+            ],
+            "finger_midpoint": [
+              0.2738075295654381,
+              -0.17550801438505886,
+              1.0051454671583886
+            ],
+            "object_minus_finger_midpoint": [
+              0.005046300615574595,
+              0.011713860462826936,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0051454671583886,
+            "object_top_z": 1.0550265947256103,
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+            "fingertip_min_top_clearance": 0.014964338270166487,
+            "object_projection_between_fingers": 0.8434644671260297,
+            "object_to_finger_line_xy": 0.009269077428311082,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874668143732187,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.37102935391378,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              0.26365299315389157,
+              -0.16622370104916903,
+              0.7611068220915856
+            ],
+            "target_position": [
+              0.2567035366197331,
+              -0.16532601838504904,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007007194894222601,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2205743848638546,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611068220915856,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555638068543942,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08619980036441034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19077772688306002,
+            "release_required_pad_clearance": 0.05309990018220517,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2252331856350551,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 118,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "72a6e973e5d55793213eef22cf813bc29ab4df1f14765bf745054d2d60f7cb4b",
+    "visual_seed": 8923601899439355342,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_119_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..375a2629c0705c13fb172363b194765d26ea1f87
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_119_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+              0.28258951959994927,
+              -0.16826339609555976,
+              1.0026519970519918
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+            "lift_margin": 0.14154548903722597,
+            "gripper_z": 1.0039378355809134,
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+            "gripper_position": [
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+              -0.17213590992306205,
+              1.0039378355809134
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+              0.003872513827502283,
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+            "object_to_gripper_z": -0.0012858385289216123,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28258951959994927,
+              -0.19162072074298,
+              1.0026519970519918
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+              -0.16826339609555976,
+              1.0026519970519918
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+              -0.17994205841926988,
+              1.0026519970519918
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+              0.01167866232371012,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009368370129593148,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 3.7714694022642523,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.040957922904424446,
+              0.7701462705873224
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+              0.004308830695589905,
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+              0.0037888799258667533,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.0387305118982,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 1.994890796923398,
+            "max_source_tilt_deg": 89.90630363013697,
+            "source_upright_tilt_deg": 3.824104687464884,
+            "max_source_upright_tilt_deg": 89.92736431521504,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.994890796923398,
+            "source_upright_return_tilt_deg": 3.824104687464884,
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+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 1.5503653918716917e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
+                0.0,
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                ],
+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
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+                  0.0018649511108295705
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.8240973679857864,
+              "source_return_step_error_deg": 1.9948743723351525,
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+              "source_return_effective_target_deg": 8.0,
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+              "source_return_best_wrist_position": -1.6043756008148193,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6043756008148193
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2967,
+              0.041,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+              0.041,
+              0.7701
+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0017,
+              -0.0014,
+              0.0019
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.2984,
+              0.0143,
+              1.0372
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
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+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0017451936960309893,
+                -0.0014468962546198903,
+                0.0018649511108295705
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.8240973679857864,
+            "pour_controller_source_return_step_error_deg": 1.9948743723351525,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.81798271390362,
+            "pour_controller_source_return_best_wrist_position": -1.6043756008148193,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6043756008148193,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.036781013918841685,
+            "valid_pour_held_xy_dist": 0.03286185517112134,
+            "valid_pour_held_gripper_dist": 0.0052861939072813054,
+            "valid_pour_required_height": 0.8001462705873225,
+            "valid_pour_held_z": 1.0365384220418776,
+            "valid_pour_source_tilt_deg": 1.994890796923398,
+            "valid_pour_source_upright_tilt_deg": 3.824104687464884,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 0.0,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2970326589494697,
+              -0.01496681893648108,
+              1.0365384220418776
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28726426354829987,
+              0.008097710621456658,
+              1.0365384220418776
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29214846124888477,
+              -0.003434554157512211,
+              1.0365384220418776
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2970326589494697,
+              0.008097710621456658,
+              1.0365384220418776
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02504783568379869,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023560111245145884,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05599022765122498,
+              -0.9977735078029001,
+              0.036237018837928736
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005537644991493817,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038487129129820795,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2970326589494697,
+              -0.01496681893648108,
+              1.0365384220418776
+            ],
+            "held_grasp_finger_b": [
+              0.28726426354829987,
+              0.008097710621456658,
+              1.0365384220418776
+            ],
+            "held_grasp_midpoint": [
+              0.29214846124888477,
+              -0.003434554157512211,
+              1.0365384220418776
+            ],
+            "held_grasp_object_position": [
+              0.2970326589494697,
+              0.008097710621456658,
+              1.0365384220418776
+            ],
+            "held_grasp_finger_gap": 0.02504783568379869,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023560111245145884,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05599022765122498,
+              -0.9977735078029001,
+              0.036237018837928736
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005537644991493817,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038487129129820795,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2641295636561437,
+              -0.16668764825311372,
+              0.761106398772376
+            ],
+            "target_position": [
+              0.2604669066218054,
+              -0.17162517496013463,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006147700914466543,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21968392572491444,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106398772376,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551886398308517,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0901172143487003,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19143401399613855,
+            "release_required_pad_clearance": 0.055058607174350155,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.198498177349448,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "02181b00e4d2df51e3faef74d6188ec467b814632930cfc22095aa9ef8329c7f",
+    "visual_seed": 2779608548434287360,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c579e90866eec76ada6890827af71ae241a160f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_11_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
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+            "held_grasp_finger_a": [
+              0.29997748751591097,
+              -0.0205367260401638,
+              1.0363627036862813
+            ],
+            "held_grasp_finger_b": [
+              0.28988082596728904,
+              0.0026738497773897765,
+              1.0363627036862813
+            ],
+            "held_grasp_midpoint": [
+              0.29492915674160003,
+              -0.008931438131387012,
+              1.0363627036862813
+            ],
+            "held_grasp_object_position": [
+              0.29997748751591097,
+              0.0026738497773897765,
+              1.0363627036862813
+            ],
+            "held_grasp_finger_gap": 0.025311527101497127,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0237875396763669,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06265941311055645,
+              -0.9976007907500022,
+              0.02943569675769641
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005775426479493615,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038459131118924184,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24261841029530856,
+              -0.1514800349021161,
+              0.7611063737326228
+            ],
+            "target_position": [
+              0.257562009099063,
+              -0.16831096129511808,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.022507581577197993,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20677157687161568,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063737326228,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0814347319719349,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08923106645175567,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18269118762482606,
+            "release_required_pad_clearance": 0.05461553322587784,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.2703010058732565,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3cef5ff0fa7c20be3f4dee14fb9c0b3b6fc2c93ba0af85d3d7dbf1a7538daabd",
+    "visual_seed": 1513581785987166107,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_121_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a47641500a0bf224cf2a4c8490205a778f8e83c4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_121_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2775212408715274,
+              -0.1599474288571633,
+              1.0044257986219132
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+            "gripper_z": 1.0057898117862016,
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+            "gripper_position": [
+              0.27413467780579026,
+              -0.16382318248861943,
+              1.0057898117862016
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+              0.003386563065737147,
+              0.003875753631456147,
+              -0.001364013164288469
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+            "object_to_gripper_z": -0.001364013164288469,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2775212408715274,
+              -0.18331008529352666,
+              1.0044257986219132
+            ],
+            "finger_b": [
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+              -0.1599474288571633,
+              1.0044257986219132
+            ],
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+              0.2724100914356836,
+              -0.17162875707534497,
+              1.0044257986219132
+            ],
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+              0.011681328218181686,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.00936506676401372,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04942493545968715,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.703751128432418,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+            "release_min_pad_clearance": 0.18319558563050942,
+            "release_required_pad_clearance": 0.05373118394587187,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4714949494625893,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f755fb7e467178b89f072ebc4a2d126b494a0b32b6558e1f4e6f3f725649953e",
+    "visual_seed": 6868272311697838899,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_123_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..419973c90a1f05dd389c0d7e771b579ecb4fecf1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_123_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2849008577721904,
+              -0.16650790095458923,
+              1.0044626650221744
+            ],
+            "current_z": 1.0044626650221744,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.143355978193474,
+            "gripper_z": 1.0052111433832418,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1704549814176642,
+              1.0052111433832418
+            ],
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+              0.0034788666337146057,
+              0.003947080463074959,
+              -0.0007484783610673951
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+            "object_to_gripper_xy": 0.005261364579380603,
+            "object_to_gripper_z": -0.0007484783610673951,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2849008577721904,
+              -0.18989115223667577,
+              1.0044626650221744
+            ],
+            "finger_b": [
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+              -0.16650790095458923,
+              1.0044626650221744
+            ],
+            "finger_midpoint": [
+              0.2797135081968331,
+              -0.17819952659563248,
+              1.0044626650221744
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011691625641043257,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009483205718942206,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049376124054157686,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.2967716268307392,
+              0.041564839749269264,
+              0.7701463301919672
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+              0.004672547611004801,
+              1.0378682106169255
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+              0.03689229213826446,
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+              1.0370732706750418
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+              0.003867583548804664,
+              -0.0007949399418836212
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+            "held_gripper_dist": 0.005305523501365242,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463301919672,
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+            "gripper_z": 1.0378682106169255,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.01929179352034,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9469832048187952,
+            "max_source_tilt_deg": 89.77736300141376,
+            "source_upright_tilt_deg": 3.395156240495594,
+            "max_source_upright_tilt_deg": 89.86755087040392,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9469832048187952,
+            "source_upright_return_tilt_deg": 3.395156240495594,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.003425057343598e-08,
+            "max_target_xy_drift": 1.2202813740193247e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2968,
+                0.0416,
+                0.7701
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+              "controller_target_position": [
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+                0.0416,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
+              ],
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+              ],
+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6042802333831787
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_controller_t": 0.0,
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+              0.0603,
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+              0.3,
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+              0.2
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+                1.0,
+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
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+              "approach_xy_threshold_m": 0.08,
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+                -0.0002549128849824501,
+                0.00012800074153681684
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.395154713600307,
+            "pour_controller_source_return_step_error_deg": 1.946994775117905,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.388412222392462,
+            "pour_controller_source_return_best_wrist_position": -1.6042802333831787,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6042802333831787,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.036973779813242624,
+            "valid_pour_held_xy_dist": 0.033042704588052106,
+            "valid_pour_held_gripper_dist": 0.005305523501365242,
+            "valid_pour_required_height": 0.8001463301919672,
+            "valid_pour_held_z": 1.0370732706750418,
+            "valid_pour_source_tilt_deg": 1.9469832048187952,
+            "valid_pour_source_upright_tilt_deg": 3.395156240495594,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.003425057343598e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2978620162449118,
+              -0.014645994168406796,
+              1.0370732706750418
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2880177417065949,
+              0.008540131159809465,
+              1.0370732706750418
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29293987897575335,
+              -0.0030529315042986654,
+              1.0370732706750418
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2978620162449118,
+              0.008540131159809465,
+              1.0370732706750418
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025189405489640018,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02361003032275548,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.047194963511249535,
+              -0.9982448476183363,
+              0.03577512575262797
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005479190198084003,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03837983508634791,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2978620162449118,
+              -0.014645994168406796,
+              1.0370732706750418
+            ],
+            "held_grasp_finger_b": [
+              0.2880177417065949,
+              0.008540131159809465,
+              1.0370732706750418
+            ],
+            "held_grasp_midpoint": [
+              0.29293987897575335,
+              -0.0030529315042986654,
+              1.0370732706750418
+            ],
+            "held_grasp_object_position": [
+              0.2978620162449118,
+              0.008540131159809465,
+              1.0370732706750418
+            ],
+            "held_grasp_finger_gap": 0.025189405489640018,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02361003032275548,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.047194963511249535,
+              -0.9982448476183363,
+              0.03577512575262797
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005479190198084003,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03837983508634791,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24008419274194234,
+              -0.1463764092261154,
+              0.7611063254872389
+            ],
+            "target_position": [
+              0.2628498251414022,
+              -0.16991057632181444,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.03274341215321978,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20191663186498326,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063254872389,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08701009762731114,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08824469630948432,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1799483025618389,
+            "release_required_pad_clearance": 0.054122348154742164,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2588564671075315,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 177,
+            "max_placed_release_frames": 177
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7e1d618c01d4955bc146e0f6859eb8fa2a6ef3877c5547a6d42bedab776f0740",
+    "visual_seed": 5865605703408698173,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_124_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f14dd0459cf2897c3d89be0708d13100398945bb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_124_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27675108529767867,
+              -0.1672767559292392,
+              1.0035382821108503
+            ],
+            "current_z": 1.0035382821108503,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14243171449143943,
+            "gripper_z": 1.0046530032525895,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2733668914549383,
+              -0.17111076099636383,
+              1.0046530032525895
+            ],
+            "object_minus_gripper": [
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+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05666961011625411,
+              -0.9976573460776246,
+              0.038319382910253386
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005514479447146579,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03846235489446952,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23727526875726618,
+              -0.14855946166905018,
+              0.7611078629381802
+            ],
+            "target_position": [
+              0.2541592179562173,
+              -0.17032889681734137,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02754951990921836,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2057373446788661,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611078629381802,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08435501710462495,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625060263498206,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18344607262333498,
+            "release_required_pad_clearance": 0.05312530131749103,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2716232964806125,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 124,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f4aa9d6433f6dd3796554324a2186e6acaee3b15b2c2db6da963ad84bf46d0a",
+    "visual_seed": 8972964857142788312,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_125_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa6852ae890faa97cba4e00345c37141f4b83fae
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_125_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 125,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.28178362277903213,
+              -0.1646687792050143,
+              1.005206894721185
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+              -0.16860968495988732,
+              1.005917576018636
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+              0.00394090575487302,
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+              -0.1879575134685414,
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+              -0.1646687792050143,
+              1.005206894721185
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+              0.27653811920526716,
+              -0.17631314633677786,
+              1.005206894721185
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+              0.011644367131763561,
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+            "object_to_finger_line_xy": 0.00956527176789469,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04036478218310333,
+              0.7701464494012564
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+            "gripper_position": [
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+              0.0030398087007802443,
+              1.0383235167008849
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+            "held_minus_target": [
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 125,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "278cc53f0f9c99686d3b0daa2543f5e83cbcfddabb673ea18daa7bda392d1f53",
+    "visual_seed": 4677571625500034511,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b998acf2c43ebe81d212b9445c8f6c484c3e7e97
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_12_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28256072916257047,
+              -0.1658556853133734,
+              1.003110797429239
+            ],
+            "current_z": 1.003110797429239,
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+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14200434901911774,
+            "gripper_z": 1.0043500142780988,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.16946617187586188,
+              1.0043500142780988
+            ],
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+              0.0028713137930447274,
+              0.0036104865624884686,
+              -0.0012392168488597477
+            ],
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+            "object_to_gripper_z": -0.0012392168488597477,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28256072916257047,
+              -0.18882848685494275,
+              1.003110797429239
+            ],
+            "finger_b": [
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+              -0.1658556853133734,
+              1.003110797429239
+            ],
+            "finger_midpoint": [
+              0.27761148863773855,
+              -0.17734208608415808,
+              1.003110797429239
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011486400770784666,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009090529668287797,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488921283296075,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04002063986533143,
+              0.7701463897966117
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+            "gripper_position": [
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+              0.0030675493645844626,
+              1.0382963789190787
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+            "held_position": [
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+              0.006581314477469385,
+              1.0370279738834376
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+            "held_minus_target": [
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+              0.26688158408682594
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+            "held_minus_gripper": [
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+              0.003513765112884922,
+              -0.0012684050356410737
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+            "held_gripper_dist": 0.004763202170550133,
+            "max_held_gripper_dist": 0.004809432444782283,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0382963789190787,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.03666096457968,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.924809563864515,
+            "max_source_tilt_deg": 89.94303256070029,
+            "source_upright_tilt_deg": 2.2568292862446646,
+            "max_source_upright_tilt_deg": 89.9328438878504,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.924809563864515,
+            "source_upright_return_tilt_deg": 2.2568292862446646,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.1691715439018022e-07,
+            "max_target_xy_drift": 1.705922654256656e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2992,
+                0.04,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.04,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6036417484283447
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0009,
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+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0365
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0014188846480485615,
+                -0.0009441722628152722,
+                0.0011506218542876793
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.256817559120075,
+            "pour_controller_source_return_step_error_deg": 1.9247804427124866,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.2512939117466932,
+            "pour_controller_source_return_best_wrist_position": -1.6036417484283447,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6036417484283447,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03710009451619409,
+            "valid_pour_held_xy_dist": 0.033441097816050695,
+            "valid_pour_held_gripper_dist": 0.004763202170550133,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0370279738834376,
+            "valid_pour_source_tilt_deg": 1.924809563864515,
+            "valid_pour_source_upright_tilt_deg": 2.2568292862446646,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.1691715439018022e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2988304098248637,
+              -0.016239717509206816,
+              1.0370279738834376
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28956448080841424,
+              0.006581314477469385,
+              1.0370279738834376
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29419744531663894,
+              -0.004829201515868716,
+              1.0370279738834376
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2988304098248637,
+              0.006581314477469385,
+              1.0370279738834376
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.024630406847528492,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02303813188536455,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.025340239177248352,
+              -0.9992243576540175,
+              0.03014225189590558
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004932504116115318,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038435984984889024,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2988304098248637,
+              -0.016239717509206816,
+              1.0370279738834376
+            ],
+            "held_grasp_finger_b": [
+              0.28956448080841424,
+              0.006581314477469385,
+              1.0370279738834376
+            ],
+            "held_grasp_midpoint": [
+              0.29419744531663894,
+              -0.004829201515868716,
+              1.0370279738834376
+            ],
+            "held_grasp_object_position": [
+              0.2988304098248637,
+              0.006581314477469385,
+              1.0370279738834376
+            ],
+            "held_grasp_finger_gap": 0.024630406847528492,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02303813188536455,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.025340239177248352,
+              -0.9992243576540175,
+              0.03014225189590558
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004932504116115318,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038435984984889024,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2475850063504009,
+              -0.15898755047824642,
+              0.761111003267473
+            ],
+            "target_position": [
+              0.26080173644651267,
+              -0.17112790625274862,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01794631418327885,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20907326780230653,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761111003267473,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07747193634267706,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08916164667781172,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18427978418979318,
+            "release_required_pad_clearance": 0.05458082333890586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.179676367010983,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df1c3acac41baacc96e0d00c81ad4097c8f315de2791bef98d44fd70b1ebac71",
+    "visual_seed": 2581454232718855944,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a2e229c04d139ca7c671ccd5115821d7d3e7f67
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_14_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.276464954416317,
+              -0.16530592841111524,
+              1.003550729344258
+            ],
+            "current_z": 1.003550729344258,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.14244434053878163,
+            "gripper_z": 1.004468108454767,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.273130954180371,
+              -0.16914458021946072,
+              1.004468108454767
+            ],
+            "object_minus_gripper": [
+              0.003334000235946044,
+              0.0038386518083454724,
+              -0.0009173791105090423
+            ],
+            "object_to_gripper_xy": 0.005084368719811954,
+            "object_to_gripper_z": -0.0009173791105090423,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.276464954416317,
+              -0.18867914660944218,
+              1.003550729344258
+            ],
+            "finger_b": [
+              0.26631541458612273,
+              -0.16530592841111524,
+              1.003550729344258
+            ],
+            "finger_midpoint": [
+              0.2713901845012199,
+              -0.1769925375102787,
+              1.003550729344258
+            ],
+            "object_minus_finger_midpoint": [
+              0.005074769915097144,
+              0.01168660909916347,
+              0.0
+            ],
+            "finger_gap": 0.025481767750909705,
+            "fingertip_max_gap": 0.093476703383431,
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+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2586911497118626,
+              -0.17129893025399553,
+              0.7611064122883267
+            ],
+            "target_position": [
+              0.2538277212797219,
+              -0.16919119050609344,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0053005191216937,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21769846886550231,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064122883267,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529841272067656,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610203608327012,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18831126359217024,
+            "release_required_pad_clearance": 0.05305101804163506,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1322736349076439,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 197,
+            "max_placed_release_frames": 197
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "38204cdc0a7efd205b7b6cb380a148855759ababe6f82b85e563be109373de0d",
+    "visual_seed": 2039515897383336276,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39fa1b3185b6bc582ba7f59dbc2d79db7c1ef48e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_15_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.0042768920316734
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+              -0.17367049295315,
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+              1.0
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+            "stable_success_frames": 162,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059014,
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+            "gripper_z": 1.0383996264407465,
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+            "max_wrist_deg": 120.06115402294334,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "070f69a570a41ec060ca9ce03b26c222924b00cb533565ea0714fc63bbd4e4f8",
+    "visual_seed": 5874200904661486193,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5d7d22a959597c47673d47872fcefb7742e41c9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_16_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2788896159722991,
+              -0.16722699881392925,
+              1.0025078211227676
+            ],
+            "current_z": 1.0025078211227676,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14140131310800153,
+            "gripper_z": 1.0033163595490264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27555517313775896,
+              -0.17098467974675374,
+              1.0033163595490264
+            ],
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+              0.0033344428345401522,
+              0.0037576809328244976,
+              -0.0008085384262588313
+            ],
+            "object_to_gripper_xy": 0.005023810805526911,
+            "object_to_gripper_z": -0.0008085384262588313,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2788896159722991,
+              -0.19074568369098735,
+              1.0025078211227676
+            ],
+            "finger_b": [
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+              -0.16722699881392925,
+              1.0025078211227676
+            ],
+            "finger_midpoint": [
+              0.2740018995414143,
+              -0.1789863412524583,
+              1.0025078211227676
+            ],
+            "object_minus_finger_midpoint": [
+              0.004887716430884814,
+              0.011759342438529052,
+              0.0
+            ],
+            "finger_gap": 0.025469346791414323,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014990938556157324,
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+            "object_to_finger_line_xy": 0.009026746029085401,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049661819366484936,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.7768692284809133,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3020183852917378,
+              0.037937219111852424,
+              0.7701463301919671
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+            "gripper_position": [
+              0.29759085476697655,
+              0.0010859567019745608,
+              1.0382281779497924
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+            "target_minus_gripper": [
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+              0.036851262409877864,
+              -0.2680818477578253
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+            "held_position": [
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+              0.004844455490250409,
+              1.0373858553819413
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+            "held_minus_target": [
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+              -0.03309276362160202,
+              0.2672395251899742
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+            "held_minus_gripper": [
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+              0.003758498788275848,
+              -0.0008423225678511059
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+            "held_gripper_dist": 0.00508519294900368,
+            "max_held_gripper_dist": 0.0050891668721951494,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463301919671,
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+            "required_height": 0.8001463301919671,
+            "gripper_z": 1.0382281779497924,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.05300560726351,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 4.174197485480808,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 0.6858643540548546,
+            "max_source_tilt_deg": 89.70884704643284,
+            "source_upright_tilt_deg": 4.091296573477817,
+            "max_source_upright_tilt_deg": 89.78569437079892,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.6858643540548546,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.7706993203109864e-08,
+            "max_target_xy_drift": 1.4023132790739598e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0379,
+                0.7701
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+              "controller_target_position": [
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+                0.7701
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+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 4.091294019844273,
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+              "wrist_compensated_return_position": -1.578173279762268
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0014
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 4.091294019844273,
+            "pour_controller_source_return_step_error_deg": 0.6858573264689234,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.091222683210744,
+            "pour_controller_source_return_best_wrist_position": -1.578173279762268,
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+            "pour_controller_wrist_compensated_return_position": -1.578173279762268,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03711628440118124,
+            "valid_pour_held_xy_dist": 0.03311128667784236,
+            "valid_pour_held_gripper_dist": 0.00508519294900368,
+            "valid_pour_required_height": 0.8001463301919671,
+            "valid_pour_held_z": 1.0373858553819413,
+            "valid_pour_source_tilt_deg": 0.6858643540548546,
+            "valid_pour_source_upright_tilt_deg": 4.091296573477817,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.7706993203109864e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3009110003780627,
+              -0.018511770143841703,
+              1.0373858553819413
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.29107962168578294,
+              0.004844455490250409,
+              1.0373858553819413
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2959953110319228,
+              -0.006833657326795647,
+              1.0373858553819413
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3009110003780627,
+              0.004844455490250409,
+              1.0373858553819413
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025341059229275195,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02398592353295447,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.07010390840652368,
+              -0.9974516356613634,
+              0.013254302795721037
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005724307747698159,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03841650637497125,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3009110003780627,
+              -0.018511770143841703,
+              1.0373858553819413
+            ],
+            "held_grasp_finger_b": [
+              0.29107962168578294,
+              0.004844455490250409,
+              1.0373858553819413
+            ],
+            "held_grasp_midpoint": [
+              0.2959953110319228,
+              -0.006833657326795647,
+              1.0373858553819413
+            ],
+            "held_grasp_object_position": [
+              0.3009110003780627,
+              0.004844455490250409,
+              1.0373858553819413
+            ],
+            "held_grasp_finger_gap": 0.025341059229275195,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02398592353295447,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.07010390840652368,
+              -0.9974516356613634,
+              0.013254302795721037
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005724307747698159,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03841650637497125,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23282672590266562,
+              -0.1518408664692214,
+              0.7611064841036056
+            ],
+            "target_position": [
+              0.2570819704076782,
+              -0.1694243830037588,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.029958253282164067,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20066991844199208,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064841036056,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0822703518965986,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08712988317030591,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.177700834397353,
+            "release_required_pad_clearance": 0.05356494158515296,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1409155190936136,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58dd7ef734d0a5e8b6fb624c0bf70e9466e6a35692bae080fd5e4a983142664a",
+    "visual_seed": 2964908163267211930,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..312ba5b57209cb11f8739077bc66cfa566c4e776
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_17_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28019640302448695,
+              -0.16380031250717778,
+              1.0041009586514558
+            ],
+            "current_z": 1.0041009586514558,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.1429943910320448,
+            "gripper_z": 1.0054015810835841,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27736112377389543,
+              -0.16737431102213898,
+              1.0054015810835841
+            ],
+            "object_minus_gripper": [
+              0.002835279250591516,
+              0.0035739985149612075,
+              -0.0013006224321283621
+            ],
+            "object_to_gripper_xy": 0.004562047107799273,
+            "object_to_gripper_z": -0.0013006224321283621,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28019640302448695,
+              -0.18681430234046423,
+              1.0041009586514558
+            ],
+            "finger_b": [
+              0.27045279200374417,
+              -0.16380031250717778,
+              1.0041009586514558
+            ],
+            "finger_midpoint": [
+              0.27532459751411553,
+              -0.175307307423821,
+              1.0041009586514558
+            ],
+            "object_minus_finger_midpoint": [
+              0.004871805510371419,
+              0.011506994916643226,
+              0.0
+            ],
+            "finger_gap": 0.024991632275026623,
+            "fingertip_max_gap": 0.09232547272626104,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012495816137513322,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0041009586514558,
+            "object_top_z": 1.0539840592222836,
+            "finger_top_clearance": 0.04988310057082779,
+            "fingertip_min_top_clearance": 0.014964930171248352,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012495816137513322,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048662736363130524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2685508684005526,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2219437670921267,
+              -0.14098392116439828,
+              0.7611065628196664
+            ],
+            "target_position": [
+              0.2584569554260313,
+              -0.1661855969039921,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.044365948455891466,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19551298694315952,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065628196664,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0864655824139108,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562503408881401,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.176611864046945,
+            "release_required_pad_clearance": 0.05281251704440701,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6702690003552085,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 167,
+            "max_placed_release_frames": 167
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb887b04262c9912d50baccd1debe7769e0a5af8a26de240efc6f430eaa4147c",
+    "visual_seed": 7934710305591004575,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11928331e096ce227fea2dcb8101a15e23c661af
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_18_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+          "skill": "pick",
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+              1.0012650807460775
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+              1.0
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.89559190765023,
+            "source_upright_tilt_deg": 3.6199142371118773,
+            "max_source_upright_tilt_deg": 89.81736983524378,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.093020771788447,
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+            "target_xy_drift": 6.50593981019146e-08,
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+                "floor",
+                "ground",
+                "groundplane",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8567f0c95a3d994bf7b66246b61af1f43d19e920b5368797b2c585a94b7082cc",
+    "visual_seed": 6247957356468194125,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cad77f828be43be75f33182fde35da6e56f6f37
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_20_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.0045978405736031
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+              -0.16886615742668948,
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+              -0.18834129837237668,
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+              -0.1649784317183655,
+              1.0045978405736031
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+              -0.17665986504537107,
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+              0.0,
+              1.0
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
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+              0.03892077770703295,
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+            "source_tilt_threshold_deg": 30.0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_axis_frame": "end_effector",
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_wrist_compensated_return_position": -1.6029330492019653,
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_gripper_dist": 0.0053054374665951675,
+            "valid_pour_required_height": 0.8001464494012563,
+            "valid_pour_held_z": 1.0364397548697577,
+            "valid_pour_source_tilt_deg": 1.999235976136369,
+            "valid_pour_source_upright_tilt_deg": 3.496338945529405,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.725290298461914e-09,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29745348747180017,
+              -0.01688035730045963,
+              1.0364397548697577
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2876551704601367,
+              0.00618615998982695,
+              1.0364397548697577
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29255432896596845,
+              -0.005347098655316341,
+              1.0364397548697577
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29745348747180017,
+              0.00618615998982695,
+              1.0364397548697577
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025061349448187005,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02351261235747285,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.049909451167550266,
+              -0.9981387065636647,
+              0.035045244236107775
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005483271428169807,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03845297251577643,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29745348747180017,
+              -0.01688035730045963,
+              1.0364397548697577
+            ],
+            "held_grasp_finger_b": [
+              0.2876551704601367,
+              0.00618615998982695,
+              1.0364397548697577
+            ],
+            "held_grasp_midpoint": [
+              0.29255432896596845,
+              -0.005347098655316341,
+              1.0364397548697577
+            ],
+            "held_grasp_object_position": [
+              0.29745348747180017,
+              0.00618615998982695,
+              1.0364397548697577
+            ],
+            "held_grasp_finger_gap": 0.025061349448187005,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02351261235747285,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.049909451167550266,
+              -0.9981387065636647,
+              0.035045244236107775
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005483271428169807,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03845297251577643,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2350496624221363,
+              -0.16027456204464802,
+              0.7611133639704155
+            ],
+            "target_position": [
+              0.25511042909162135,
+              -0.16807375449037082,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.021523516491803615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20397867686991455,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611133639704155,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07631875926449247,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09559778426347058,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17826069640908457,
+            "release_required_pad_clearance": 0.057798892131735294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 11.425218560431983,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07821f9167dddffdda775ef18550363ca365f85d5c4b6c3ea9851eadbce91d22",
+    "visual_seed": 9148440293145362058,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d51a8acdd5aab4359e80d86d793e2957780ff66
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_21_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2827884518143197,
+              -0.16937628060831272,
+              1.0049036949636874
+            ],
+            "current_z": 1.0049036949636874,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1437971869489214,
+            "gripper_z": 1.0058890741452626,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2791354560502491,
+              -0.17344108358321908,
+              1.0058890741452626
+            ],
+            "object_minus_gripper": [
+              0.0036529957640706323,
+              0.004064802974906356,
+              -0.0009853791815752633
+            ],
+            "object_to_gripper_xy": 0.005465071022148344,
+            "object_to_gripper_z": -0.0009853791815752633,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2827884518143197,
+              -0.19284543713661445,
+              1.0049036949636874
+            ],
+            "finger_b": [
+              0.27215321305950363,
+              -0.16937628060831272,
+              1.0049036949636874
+            ],
+            "finger_midpoint": [
+              0.2774708324369117,
+              -0.1811108588724636,
+              1.0049036949636874
+            ],
+            "object_minus_finger_midpoint": [
+              0.005317619377408045,
+              0.011734578264150863,
+              0.0
+            ],
+            "finger_gap": 0.02576644351713813,
+            "fingertip_max_gap": 0.0931829109665318,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012883221758569065,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0049036949636874,
+            "object_top_z": 1.0547479789991767,
+            "finger_top_clearance": 0.04984428403548935,
+            "fingertip_min_top_clearance": 0.014953285210646804,
+            "object_projection_between_fingers": 0.8296329780304494,
+            "object_to_finger_line_xy": 0.009687021139980828,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049091455483265906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1073202582616237,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
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+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2668975178447331,
+              -0.18006703549436956,
+              0.7611187166550247
+            ],
+            "target_position": [
+              0.26007794840634474,
+              -0.1733949184185656,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.00954063276718243,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22073150268981623,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611187166550247,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753926693326428,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649066310844887,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19008214132809473,
+            "release_required_pad_clearance": 0.05324533155422444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5076164631129747,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 195,
+            "max_placed_release_frames": 195
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a71094be2762aad5f4a6f403e5fc1d6db406a95e244459822c7abfde3e0140e1",
+    "visual_seed": 3870825087324738859,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcc2b612a173c9f4ff1c71f5f790b9e25a5d06a8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_24_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+              1.0019502643872622
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+              -0.17805782362473016,
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+              1.0
+            ],
+            "stable_success_frames": 160,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.036175540505580674,
+              0.7701463897966115
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+              -0.00046588796595171955,
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+              0.0037203116306280225,
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+            "xy_threshold": 0.15,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.0997036106189,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 2.878396816899182,
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+            "source_tilt_deg": 2.0314708593224657,
+            "max_source_tilt_deg": 89.8738944184939,
+            "source_upright_tilt_deg": 3.337174240546568,
+            "max_source_upright_tilt_deg": 89.84675681402405,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0314708593224657,
+            "source_upright_return_tilt_deg": 3.337174240546568,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.725290298461914e-08,
+            "max_target_xy_drift": 1.744136200952474e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+                "split_aloha",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
+                "joint2",
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+                "joint5",
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+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "right_inner_finger",
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+                "robotiq_2f85",
+                "shoulder_lift_joint",
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+                "split_aloha",
+                "tool_center",
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+                "ur5e",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "ground",
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93f2de8997acfbce906398e53d267bfdfd4728952b66faa46cde4be930e32ee2",
+    "visual_seed": 2957596008006790447,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f699da12a3c30144da8fb10de39f280b3e0af6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_25_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "reason": "executed",
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+              1.0040502501966668
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+              1.0040502501966668
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "valid_pour_held_grasp_finger_a": [
+              0.30010398552442047,
+              -0.0139691055220152,
+              1.0363539247401043
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2903711938723508,
+              0.009262781145573192,
+              1.0363539247401043
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29523758969838565,
+              -0.0023531621882210037,
+              1.0363539247401043
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.30010398552442047,
+              0.009262781145573192,
+              1.0363539247401043
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025188247090225806,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02374124663186075,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05782955969026554,
+              -0.9976978584525147,
+              0.035422101367594494
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005544912394086041,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03841246980996097,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30010398552442047,
+              -0.0139691055220152,
+              1.0363539247401043
+            ],
+            "held_grasp_finger_b": [
+              0.2903711938723508,
+              0.009262781145573192,
+              1.0363539247401043
+            ],
+            "held_grasp_midpoint": [
+              0.29523758969838565,
+              -0.0023531621882210037,
+              1.0363539247401043
+            ],
+            "held_grasp_object_position": [
+              0.30010398552442047,
+              0.009262781145573192,
+              1.0363539247401043
+            ],
+            "held_grasp_finger_gap": 0.025188247090225806,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02374124663186075,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05782955969026554,
+              -0.9976978584525147,
+              0.035422101367594494
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005544912394086041,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03841246980996097,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24359816122510292,
+              -0.1552322562429086,
+              0.7611064378830001
+            ],
+            "target_position": [
+              0.2572677875701478,
+              -0.17254803629158158,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02206116323105303,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20807040641148225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064378830001,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08072670886777256,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08855248518245905,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18459371164979668,
+            "release_required_pad_clearance": 0.054276242591229526,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5719392537695884,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6310520e010950243c243ddfc674a1f20ccad0b7ba035b33e1e3567120ea13e7",
+    "visual_seed": 3154970339001932113,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cef2b246fcf95cc283e33b7bcba553747a950de
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_26_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2765769639069116,
+              -0.17031569706719932,
+              1.003056027595088
+            ],
+            "current_z": 1.003056027595088,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14194957918496665,
+            "gripper_z": 1.003881124455839,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2731140451646752,
+              -0.17420090102670605,
+              1.003881124455839
+            ],
+            "object_minus_gripper": [
+              0.0034629187422364205,
+              0.003885203959506728,
+              -0.0008250968607510512
+            ],
+            "object_to_gripper_xy": 0.005204480379663183,
+            "object_to_gripper_z": -0.0008250968607510512,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2765769639069116,
+              -0.19384216265170584,
+              1.003056027595088
+            ],
+            "finger_b": [
+              0.26643513629162485,
+              -0.17031569706719932,
+              1.003056027595088
+            ],
+            "finger_midpoint": [
+              0.2715060500992682,
+              -0.18207892985945257,
+              1.003056027595088
+            ],
+            "object_minus_finger_midpoint": [
+              0.005070913807643407,
+              0.011763232792253248,
+              0.0
+            ],
+            "finger_gap": 0.02561935304173708,
+            "fingertip_max_gap": 0.09337698261508684,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012809676520868538,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.003056027595088,
+            "object_top_z": 1.0528795013065082,
+            "finger_top_clearance": 0.04982347371142026,
+            "fingertip_min_top_clearance": 0.014947042113426111,
+            "object_projection_between_fingers": 0.8432902088100557,
+            "object_to_finger_line_xy": 0.009313324890223827,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04918849130754342,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3664588503951283,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23987028418631273,
+              -0.15804627778105815,
+              0.7611116020512203
+            ],
+            "target_position": [
+              0.25362418932602593,
+              -0.173189674795453,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.020457086296142273,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20922848713426256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611116020512203,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07923602575442283,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09028495973671181,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1855277437882122,
+            "release_required_pad_clearance": 0.05514247986835591,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.3517994752138875,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b221106baf6cdcdd3fda54ddcb1cc3f9c8db2a5bd736ed4065daf03424b50aa",
+    "visual_seed": 2475243440507912471,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5f7f84fa825be1029662191165d11c6fd931f78
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_28_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.2818089916372161,
+              -0.16221633348849712,
+              1.0017225956423537
+            ],
+            "current_z": 1.0017225956423537,
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+            "lift_margin": 0.14061602802294282,
+            "gripper_z": 1.002825546476185,
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+            "gripper_position": [
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+              -0.16599364800839872,
+              1.002825546476185
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+              0.003777314519901598,
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+              -0.18571475842608792,
+              1.0017225956423537
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+              -0.16221633348849712,
+              1.0017225956423537
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+              -0.17396554595729252,
+              1.0017225956423537
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+              0.0117492124687954,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.00903184752997272,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.03565536332004524,
+              0.7701464494012566
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+              -0.0013608712039153426,
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+              -0.0011509430958498434
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.0408478705409,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 3.63078994058262,
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+            "source_tilt_deg": 0.7249509116745316,
+            "max_source_tilt_deg": 89.92614401151162,
+            "source_upright_tilt_deg": 3.7512644935725654,
+            "max_source_upright_tilt_deg": 89.78830663383103,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.7249509116745316,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.470348358154297e-08,
+            "max_target_xy_drift": 1.0437463019879088e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0357,
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+              "controller_target_position": [
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+                0.0357,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  0.0007323119276504944,
+                  0.0017040205043258637,
+                  -0.00136276432174052
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.7512640479282,
+              "source_return_step_error_deg": 0.7249299137508647,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 3.750542407634415,
+              "source_return_best_wrist_position": -1.5784772634506226,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.5784772634506226
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.294,
+              0.0357,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0017,
+              -0.0014
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.2948,
+              0.0122,
+              1.034
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0007323119276504944,
+                0.0017040205043258637,
+                -0.00136276432174052
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.7512640479282,
+            "pour_controller_source_return_step_error_deg": 0.7249299137508647,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.750542407634415,
+            "pour_controller_source_return_best_wrist_position": -1.5784772634506226,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.5784772634506226,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03711497150573374,
+            "valid_pour_held_xy_dist": 0.033244155293170805,
+            "valid_pour_held_gripper_dist": 0.005160305053549201,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.0372485045954325,
+            "valid_pour_source_tilt_deg": 0.7249509116745316,
+            "valid_pour_source_upright_tilt_deg": 3.7512644935725654,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.470348358154297e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29464097508480636,
+              -0.02088133924666838,
+              1.0372485045954325
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2847392044543617,
+              0.0024169165426061474,
+              1.0372485045954325
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.289690089769584,
+              -0.009232211352031117,
+              1.0372485045954325
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29464097508480636,
+              0.0024169165426061474,
+              1.0372485045954325
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025315090053965848,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.0238767834059032,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.06346789179429974,
+              -0.9978574838061764,
+              0.015882969596190285
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005683180494550871,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038410302874088496,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29464097508480636,
+              -0.02088133924666838,
+              1.0372485045954325
+            ],
+            "held_grasp_finger_b": [
+              0.2847392044543617,
+              0.0024169165426061474,
+              1.0372485045954325
+            ],
+            "held_grasp_midpoint": [
+              0.289690089769584,
+              -0.009232211352031117,
+              1.0372485045954325
+            ],
+            "held_grasp_object_position": [
+              0.29464097508480636,
+              0.0024169165426061474,
+              1.0372485045954325
+            ],
+            "held_grasp_finger_gap": 0.025315090053965848,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0238767834059032,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06346789179429974,
+              -0.9978574838061764,
+              0.015882969596190285
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005683180494550871,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038410302874088496,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24304330879240177,
+              -0.14791276863327335,
+              0.7611063232490416
+            ],
+            "target_position": [
+              0.2604942059089637,
+              -0.1663972449763202,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02542065451261018,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20530024986081033,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063232490416,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08188525443711314,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593545066453033,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18242061301041781,
+            "release_required_pad_clearance": 0.05296772533226517,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9707496041620768,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e9fd23c22c4f210dc961f6045075c16ed091b59ab15e146ae4358253fe3274fc",
+    "visual_seed": 5293807574047638028,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_30_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b3cdae1293efce80fc97bd6cfb316c668e7b20a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_30_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
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+          "failure_messages": {},
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+              "robot_prim_substrings": [
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
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+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04387011228235379,
+              -0.9984525193992204,
+              0.03417571877346592
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0052564170979382254,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038375888383825864,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2939397842857114,
+              -0.02091784443643365,
+              1.0373966111588473
+            ],
+            "held_grasp_finger_b": [
+              0.2844622449089402,
+              0.0022224688386132258,
+              1.0373966111588473
+            ],
+            "held_grasp_midpoint": [
+              0.2892010145973258,
+              -0.009347687798910213,
+              1.0373966111588473
+            ],
+            "held_grasp_object_position": [
+              0.2939397842857114,
+              0.0022224688386132258,
+              1.0373966111588473
+            ],
+            "held_grasp_finger_gap": 0.025005956312558003,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023520284805777163,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04387011228235379,
+              -0.9984525193992204,
+              0.03417571877346592
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0052564170979382254,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038375888383825864,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24501956773116312,
+              -0.15543386485333155,
+              0.7611066145839434
+            ],
+            "target_position": [
+              0.25753976875418166,
+              -0.16609813417918726,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01644633922522521,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2071832160258997,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066145839434,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07794635450491971,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08862262534047648,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18121212728740985,
+            "release_required_pad_clearance": 0.05431131267023824,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.64332812030936,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 189,
+            "max_placed_release_frames": 189
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "faf50ff9873415a2684038ae9f0e2889d5aec3c185faa1cb0c68771a59fb3615",
+    "visual_seed": 781943752710463910,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c4407c858f87738eb3896486874cb5219a0bffa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_32_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2801093632885283,
+              -0.16238355625585196,
+              1.005123366062151
+            ],
+            "current_z": 1.005123366062151,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1440167984427403,
+            "gripper_z": 1.0058896128779033,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27705840233780055,
+              -0.1661060290014864,
+              1.0058896128779033
+            ],
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+              0.0030509609507277657,
+              0.0037224727456344475,
+              -0.000766246815752325
+            ],
+            "object_to_gripper_xy": 0.004813020472100335,
+            "object_to_gripper_z": -0.000766246815752325,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2801093632885283,
+              -0.18548379396673131,
+              1.005123366062151
+            ],
+            "finger_b": [
+              0.2700525926202537,
+              -0.16238355625585196,
+              1.005123366062151
+            ],
+            "finger_midpoint": [
+              0.275080977954391,
+              -0.17393367511129165,
+              1.005123366062151
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050283853341372975,
+              0.01155011885543969,
+              0.0
+            ],
+            "finger_gap": 0.025194436262266334,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01259721813113318,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0550623997206583,
+            "finger_top_clearance": 0.04993903365850727,
+            "fingertip_min_top_clearance": 0.01498171009755218,
+            "object_projection_between_fingers": 0.8406662407076656,
+            "object_to_finger_line_xy": 0.009220837117474161,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841857306575388,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.744009443532535,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              -0.16975318517502236,
+              0.7611074233525974
+            ],
+            "target_position": [
+              0.2581576865883364,
+              -0.1659924058408207,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00495236538635172,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21836516013496368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611074233525974,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532041185242738,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08784994682107951,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18860879050048387,
+            "release_required_pad_clearance": 0.053924973410539756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8591528161112194,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 196,
+            "max_placed_release_frames": 196
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ba6c0f2e045b538cc57889343594e35a41d5a62416989d638631ff2a2b94d25",
+    "visual_seed": 7265795487340581911,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65fd3c283f20bd894aebec4ddd0e673161df1e1a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_33_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2817396229303785,
+              -0.16541086953796696,
+              1.0048228632891196
+            ],
+            "current_z": 1.0048228632891196,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14371641487899844,
+            "gripper_z": 1.0059385609777158,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27854611273601176,
+              -0.16922265648201712,
+              1.0059385609777158
+            ],
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+              0.0031935101943667554,
+              0.003811786944050155,
+              -0.0011156976885962067
+            ],
+            "object_to_gripper_xy": 0.004972748442094735,
+            "object_to_gripper_z": -0.0011156976885962067,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2817396229303785,
+              -0.18855697436897823,
+              1.0048228632891196
+            ],
+            "finger_b": [
+              0.2714452094117126,
+              -0.16541086953796696,
+              1.0048228632891196
+            ],
+            "finger_midpoint": [
+              0.2765924161710456,
+              -0.1769839219534726,
+              1.0048228632891196
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01157305241550563,
+              0.0
+            ],
+            "finger_gap": 0.025332136083272862,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0546937147030369,
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+            "fingertip_min_top_clearance": 0.014961255424175184,
+            "object_projection_between_fingers": 0.8348572188098078,
+            "object_to_finger_line_xy": 0.009406059311127668,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04945315797411415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.6932718480398306,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04508393522971131,
+              0.7701464494012564
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+            "gripper_position": [
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+              0.007714260477703905,
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+            "held_minus_target": [
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+              0.0037240898613820315,
+              -0.001140755652444314
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+            "held_gripper_dist": 0.005084842887640431,
+            "max_held_gripper_dist": 0.005107539769504417,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012564,
+            "held_z": 1.036793223840033,
+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.0379339794924773,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.01188786846005,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 2.832438680146557,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.878228214466543,
+            "max_source_tilt_deg": 89.90319537634672,
+            "source_upright_tilt_deg": 3.5238117729696645,
+            "max_source_upright_tilt_deg": 89.95300357276639,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.878228214466543,
+            "source_upright_return_tilt_deg": 3.5238117729696645,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.5144318394478426e-08,
+            "max_target_xy_drift": 9.835048601748406e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2956,
+                0.0451,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0451,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              ],
+              "height_range_2": [
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.5238254387801047,
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+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
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+              "source_return_best_wrist_position": -1.6032907962799072,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6032907962799072
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2956,
+              0.0451,
+              0.7701
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.001,
+              -0.0014,
+              0.0013
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.2966,
+              0.0185,
+              1.0366
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+              0.3,
+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0009664026413722798,
+                -0.0014016977286248826,
+                0.0012554323421288837
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.5238254387801047,
+            "pour_controller_source_return_step_error_deg": 1.8782657150959854,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.5198328040622386,
+            "pour_controller_source_return_best_wrist_position": -1.6032907962799072,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6032907962799072,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03745737914162846,
+            "valid_pour_held_xy_dist": 0.03365301417232055,
+            "valid_pour_held_gripper_dist": 0.005084842887640431,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.036793223840033,
+            "valid_pour_source_tilt_deg": 1.878228214466543,
+            "valid_pour_source_upright_tilt_deg": 3.5238117729696645,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.5144318394478426e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2963367244549465,
+              -0.01151715583780414,
+              1.036793223840033
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2866153303770741,
+              0.011438350339085936,
+              1.036793223840033
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2914760274160103,
+              -3.9402749359101694e-05,
+              1.036793223840033
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2963367244549465,
+              0.011438350339085936,
+              1.036793223840033
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.024929114838969545,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023398780829600695,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05006231299015808,
+              -0.9981093503239675,
+              0.03565795302513863
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005444282808430166,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038507535128321835,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2963367244549465,
+              -0.01151715583780414,
+              1.036793223840033
+            ],
+            "held_grasp_finger_b": [
+              0.2866153303770741,
+              0.011438350339085936,
+              1.036793223840033
+            ],
+            "held_grasp_midpoint": [
+              0.2914760274160103,
+              -3.9402749359101694e-05,
+              1.036793223840033
+            ],
+            "held_grasp_object_position": [
+              0.2963367244549465,
+              0.011438350339085936,
+              1.036793223840033
+            ],
+            "held_grasp_finger_gap": 0.024929114838969545,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023398780829600695,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05006231299015808,
+              -0.9981093503239675,
+              0.03565795302513863
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005444282808430166,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038507535128321835,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2426871727708173,
+              -0.15184420935104007,
+              0.7611065379602788
+            ],
+            "target_position": [
+              0.2591612701687281,
+              -0.16870458957217838,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02357261772220478,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2046241583020544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065379602788,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08073784297027885,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08851942557505908,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18133243994356527,
+            "release_required_pad_clearance": 0.05425971278752954,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5380284417914076,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 173,
+            "max_placed_release_frames": 173
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "53fff6abf95d1335adacf412be7206cc21692b0dc9358bc3e6b2b7f63289452d",
+    "visual_seed": 7037437967708758572,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc4bbd0547629ae9e6814913d83ee3b1d38d64c5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_34_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30124433027986863,
+              -0.018863945688904336,
+              1.0367231585982024
+            ],
+            "held_grasp_finger_b": [
+              0.29173909364313666,
+              0.004101780254854689,
+              1.0367231585982024
+            ],
+            "held_grasp_midpoint": [
+              0.29649171196150265,
+              -0.007381082717024824,
+              1.0367231585982024
+            ],
+            "held_grasp_object_position": [
+              0.30124433027986863,
+              0.004101780254854689,
+              1.0367231585982024
+            ],
+            "held_grasp_finger_gap": 0.024855061690611798,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023352540651730796,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04402390818867733,
+              -0.9986221660437445,
+              0.028559849332498447
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005263570746560651,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038462437409236806,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24484531343871851,
+              -0.14555102001958325,
+              0.7611068670962482
+            ],
+            "target_position": [
+              0.2602306982767218,
+              -0.16525667205168693,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02500045576832176,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2088146106483688,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611068670962482,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0827658367086383,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08726535537608178,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18591138080862282,
+            "release_required_pad_clearance": 0.05363267768804089,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.274232161093028,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49db9156111d01e5ae72677cdde0d573458d861f55cb01b42f73a637691444d5",
+    "visual_seed": 6410466656899185894,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0878b7e11ee390b20b367c910a7939722018a37
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_35_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2810756527420482,
+              -0.16940650594027273,
+              1.003488806911058
+            ],
+            "current_z": 1.003488806911058,
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+            "lift_margin": 0.14238229889629206,
+            "gripper_z": 1.0045909326623028,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27790012102279915,
+              -0.1731751433489676,
+              1.0045909326623028
+            ],
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+              0.0031755317192490584,
+              0.003768637408694875,
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+            "object_to_gripper_xy": 0.004928146671738911,
+            "object_to_gripper_z": -0.001102125751244909,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2810756527420482,
+              -0.1926213253467346,
+              1.003488806911058
+            ],
+            "finger_b": [
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+              -0.16940650594027273,
+              1.003488806911058
+            ],
+            "finger_midpoint": [
+              0.2760208452397219,
+              -0.18101391564350366,
+              1.003488806911058
+            ],
+            "object_minus_finger_midpoint": [
+              0.005054807502326286,
+              0.011607409703230931,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014924357313362896,
+            "object_projection_between_fingers": 0.8405877561328232,
+            "object_to_finger_line_xy": 0.00926885625461895,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04939310611138972,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.7534338921863437,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18921850285387437,
+            "release_required_pad_clearance": 0.052618525989427706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.29870688110656196,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd58b5d6e6897fce8d4266ef378a43a42718f230fee97fc5bce93b5842317cb6",
+    "visual_seed": 8532953948549045681,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec60c505319606619dd980aca1d10337ce62ab7a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_36_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27689681867246063,
+              -0.16718124582845223,
+              1.0035762239539037
+            ],
+            "current_z": 1.0035762239539037,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1424697159391376,
+            "gripper_z": 1.0048073204461556,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2734035984131431,
+              -0.17109576215397893,
+              1.0048073204461556
+            ],
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+              0.003493220259317531,
+              0.003914516325526696,
+              -0.0012310964922519485
+            ],
+            "object_to_gripper_xy": 0.005246525120774841,
+            "object_to_gripper_z": -0.0012310964922519485,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27689681867246063,
+              -0.19068298325467958,
+              1.0035762239539037
+            ],
+            "finger_b": [
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+              -0.16718124582845223,
+              1.0035762239539037
+            ],
+            "finger_midpoint": [
+              0.271780804143703,
+              -0.1789321145415659,
+              1.0035762239539037
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011750868713113677,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009381459973720432,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04939661057148123,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5079543125379744,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.29875318324629707,
+              0.04449023944013573,
+              0.7701463897966115
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+            "gripper_position": [
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+              0.007782332937270056,
+              1.0383626502360932
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+            "held_minus_gripper": [
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+              0.0038572221707383336,
+              -0.0012536407259338134
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+            "held_gripper_dist": 0.005377952949382277,
+            "max_held_gripper_dist": 0.0054063178709537855,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966115,
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+            "required_height": 0.8001463897966116,
+            "gripper_z": 1.0383626502360932,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.05709689057636,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_tilt_deg": 2.0021208855236674,
+            "max_source_tilt_deg": 89.84395872254319,
+            "source_upright_tilt_deg": 3.935519721336523,
+            "max_source_upright_tilt_deg": 89.97365365844448,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0021208855236674,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-08,
+            "max_target_xy_drift": 1.3498716750736115e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0445,
+                0.7701
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+              "controller_target_position": [
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+                0.0445,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6040693521499634
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2988,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
+              0.0
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0016,
+              0.0001,
+              -0.0004
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3003,
+              0.0194,
+              1.0349
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0015752457662176734,
+                0.0001474601699464678,
+                -0.000423448994131285
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.9353196447195216,
+            "pour_controller_source_return_step_error_deg": 2.001995160900844,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.9313695071701056,
+            "pour_controller_source_return_best_wrist_position": -1.6040693521499634,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6040693521499634,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.037011146413821375,
+            "valid_pour_held_xy_dist": 0.0328724633024605,
+            "valid_pour_held_gripper_dist": 0.005377952949382277,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0371090095101594,
+            "valid_pour_source_tilt_deg": 2.0021208855236674,
+            "valid_pour_source_upright_tilt_deg": 3.935519721336523,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.9802322387695312e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29755677926664165,
+              -0.011443556180493664,
+              1.0371090095101594
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2876440838938591,
+              0.01163955510800839,
+              1.0371090095101594
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2926004315802504,
+              9.79994637573629e-05,
+              1.0371090095101594
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29755677926664165,
+              0.01163955510800839,
+              1.0371090095101594
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025121535707654408,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02360433604017733,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05807263133651145,
+              -0.9976419317318554,
+              0.03658067167214929
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056336776411858745,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03849373835394114,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29755677926664165,
+              -0.011443556180493664,
+              1.0371090095101594
+            ],
+            "held_grasp_finger_b": [
+              0.2876440838938591,
+              0.01163955510800839,
+              1.0371090095101594
+            ],
+            "held_grasp_midpoint": [
+              0.2926004315802504,
+              9.79994637573629e-05,
+              1.0371090095101594
+            ],
+            "held_grasp_object_position": [
+              0.29755677926664165,
+              0.01163955510800839,
+              1.0371090095101594
+            ],
+            "held_grasp_finger_gap": 0.025121535707654408,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02360433604017733,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05807263133651145,
+              -0.9976419317318554,
+              0.03658067167214929
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0056336776411858745,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03849373835394114,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24264176149926503,
+              -0.16103175658260432,
+              0.7611063172927296
+            ],
+            "target_position": [
+              0.25423212212691804,
+              -0.17155902881634305,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.015657583471350083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2071999193959493,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063172927296,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07758703725210264,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08648970648367128,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1815403650828503,
+            "release_required_pad_clearance": 0.053244853241835643,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5102213136238443,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7bb1b6b8fbdc1804c62bbaaeff159096e3fdb25d27a9bc3a85672a3db5af5066",
+    "visual_seed": 8976776175684615613,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_37_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0d40bbae215861f7952688e24c3718e9dbc2699
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_37_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27784012577984024,
+              -0.16388124274633387,
+              1.003695853469527
+            ],
+            "current_z": 1.003695853469527,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1425893454547611,
+            "gripper_z": 1.004496926249414,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2744957603087217,
+              -0.16778577711415965,
+              1.004496926249414
+            ],
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+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023438262476930104,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.045926460625998734,
+              -0.9983019529709538,
+              0.035832539803202994
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005489478851850388,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03845586592499836,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24699383630138955,
+              -0.15228733642698664,
+              0.7611110238663596
+            ],
+            "target_position": [
+              0.25470132838074716,
+              -0.1688380747074307,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01825739225029459,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21191112418314753,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611110238663596,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08167169417468385,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518227174693228,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18694686427742702,
+            "release_required_pad_clearance": 0.052591135873466144,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24388205309471864,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d26c05b6248acf3203dd55656ea24b47d653a10874ecac819e43586aa1807b0",
+    "visual_seed": 7487032228670183613,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..79ad63bb8e3349a6be817b7e8b16ea4258387c02
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_38_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+              0.2767556958210636,
+              -0.16823932560709326,
+              1.0042020802889695
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+            "gripper_position": [
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+              -0.17182886243621592,
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+              -0.19168925915153975,
+              1.0042020802889695
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+            "finger_b": [
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+              -0.16823932560709326,
+              1.0042020802889695
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+              0.2720809707261035,
+              -0.1799642923793165,
+              1.0042020802889695
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+              0.011724966772223233,
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+            "object_to_finger_line_xy": 0.008684639111100751,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.30051634824339796,
+              0.03835352775328614,
+              0.7701463897966117
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+            "gripper_position": [
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+              0.0015409555088020527,
+              1.0382874864890752
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+            "target_minus_gripper": [
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+              -0.26814109669246355
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+            "held_position": [
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+              0.005093623318052163,
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbd941465f9fbfa21ead4e70d1e14bdf0561676a3f0cc7f7ab5cfc730f9f9602",
+    "visual_seed": 7248617464678374653,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..68d56d9d020fee7a95bf80a9ff7303a7e0b8582e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_39_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              -0.16482581060943383,
+              1.0049910000810662
+            ],
+            "current_z": 1.0049910000810662,
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+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14388449206630016,
+            "gripper_z": 1.0058800571112838,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.16869090190456992,
+              1.0058800571112838
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+              0.003865091295136097,
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+            "object_to_gripper_z": -0.0008890570302175771,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2772216991295231,
+              -0.18839784266986953,
+              1.0049910000810662
+            ],
+            "finger_b": [
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+              -0.16482581060943383,
+              1.0049910000810662
+            ],
+            "finger_midpoint": [
+              0.2722111645508057,
+              -0.1766118266396517,
+              1.0049910000810662
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011786016030217866,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009222283479802269,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04943033221256338,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04468355220430352,
+              0.7701464494012568
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+              0.00815977538444368,
+              1.0378117236718702
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+            "held_minus_gripper": [
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+              0.0038666531534920848,
+              -0.0009183804675034768
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0378117236718702,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.03901054965417,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.99156370494266,
+            "source_upright_tilt_deg": 4.020871600080252,
+            "max_source_upright_tilt_deg": 89.68598967653188,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.6970922048801863,
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+            "target_xy_drift": 6.064333243705223e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0447,
+                0.7701
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+              "controller_target_position": [
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+                0.0447,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "approach_height_range_m": [
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+                  0.4
+                ],
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0354
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+            "pour_controller_controller_event": 6,
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+            "pour_controller_source_size": [
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+              0.2
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
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+              "approach_xy_threshold_m": 0.08,
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+                -0.0012648179306380325,
+                2.6347670606806112e-05
+              ],
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 4.020859554948652,
+            "pour_controller_source_return_step_error_deg": 0.6972995947640187,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.019752747254194,
+            "pour_controller_source_return_best_wrist_position": -1.5795096158981323,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.5795096158981323,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03682914991650303,
+            "valid_pour_held_xy_dist": 0.03268100686553699,
+            "valid_pour_held_gripper_dist": 0.005284921773765377,
+            "valid_pour_required_height": 0.8001464494012568,
+            "valid_pour_held_z": 1.0368933432043668,
+            "valid_pour_source_tilt_deg": 0.6970922048801863,
+            "valid_pour_source_upright_tilt_deg": 4.020871600080252,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.064333243705223e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29956496967747015,
+              -0.011363864037208427,
+              1.0368933432043668
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.289494878525799,
+              0.012026428537935764,
+              1.0368933432043668
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2945299241016346,
+              0.0003312822503636686,
+              1.0368933432043668
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29956496967747015,
+              0.012026428537935764,
+              1.0368933432043668
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025465909026653858,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024023820522169455,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.06862910547321949,
+              -0.9975385771442258,
+              0.014381689435502554
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058281571861724625,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03839944115678331,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29956496967747015,
+              -0.011363864037208427,
+              1.0368933432043668
+            ],
+            "held_grasp_finger_b": [
+              0.289494878525799,
+              0.012026428537935764,
+              1.0368933432043668
+            ],
+            "held_grasp_midpoint": [
+              0.2945299241016346,
+              0.0003312822503636686,
+              1.0368933432043668
+            ],
+            "held_grasp_object_position": [
+              0.29956496967747015,
+              0.012026428537935764,
+              1.0368933432043668
+            ],
+            "held_grasp_finger_gap": 0.025465909026653858,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024023820522169455,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06862910547321949,
+              -0.9975385771442258,
+              0.014381689435502554
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0058281571861724625,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03839944115678331,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2559154014313216,
+              -0.16665090136529828,
+              0.7611082119008891
+            ],
+            "target_position": [
+              0.2551374335195033,
+              -0.1684073864521287,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0019210606268612429,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21725607001633707,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611082119008891,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752267549445265,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550890146813571,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18929276777279885,
+            "release_required_pad_clearance": 0.052754450734067856,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5567223730449556,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37654cd5203e56e640e88500055e0053e0ba34c782a5686c50d8cded3b19566a",
+    "visual_seed": 5693217586520318126,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e57b0cab428ff876602f948580ce893849e02eb7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_3_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27649300823145395,
+              -0.16325829661134197,
+              1.0012420465819223
+            ],
+            "current_z": 1.0012420465819223,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14013553856715644,
+            "gripper_z": 1.002401345932905,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2729910930770939,
+              -0.16715187690817468,
+              1.002401345932905
+            ],
+            "object_minus_gripper": [
+              0.003501915154360047,
+              0.003893580296832705,
+              -0.001159299350982801
+            ],
+            "object_to_gripper_xy": 0.005236733454761699,
+            "object_to_gripper_z": -0.001159299350982801,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27649300823145395,
+              -0.1870090211531833,
+              1.0012420465819223
+            ],
+            "finger_b": [
+              0.2667098195522031,
+              -0.16325829661134197,
+              1.0012420465819223
+            ],
+            "finger_midpoint": [
+              0.2716014138918285,
+              -0.17513365888226262,
+              1.0012420465819223
+            ],
+            "object_minus_finger_midpoint": [
+              0.004891594339625438,
+              0.011875362270920647,
+              0.0
+            ],
+            "finger_gap": 0.025686722192530643,
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+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25669476193321616,
+              -0.1642811408726502,
+              0.7611063099019509
+            ],
+            "target_position": [
+              0.25491373715064947,
+              -0.16585129624903347,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.002374328785594375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21718414567935898,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063099019509,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561727825387199,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496549392992421,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18822524599735455,
+            "release_required_pad_clearance": 0.05248274696496211,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956452787029498,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3204aeecd7c7ecb52540e8575192c6636ec1a1b34d776dee919540af8978bf79",
+    "visual_seed": 2787152884996513597,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..986c3459fa78b164d3b151e9a275acb46219cc32
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_40_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              -0.16884025954469678,
+              1.003621903148628
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+            "gripper_position": [
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+              -0.172610569279562,
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+              -0.16884025954469678,
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+              0.27255051825851867,
+              -0.18061553600493988,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.03601686921589829,
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+              0.003706295763606482,
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+            "xy_dist": 0.036674746625428876,
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+            "max_held_gripper_dist": 0.005346301820315737,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966115,
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+            "gripper_z": 1.0377810660727813,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.13248851863496,
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b3fce65e37bf93622343e3d06d8a98bd29835766212e85a582bb2852b76d4b2",
+    "visual_seed": 3679932113315118602,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe16ea2539e8901e7791713fd04994d13cf134f5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_41_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27641813897105977,
+              -0.16241425514935565,
+              1.0052813302752401
+            ],
+            "current_z": 1.0052813302752401,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1441748222604743,
+            "gripper_z": 1.0062121464320772,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27294073134551267,
+              -0.16619424761440763,
+              1.0062121464320772
+            ],
+            "object_minus_gripper": [
+              0.003477407625547102,
+              0.003779992465051979,
+              -0.0009308161568370998
+            ],
+            "object_to_gripper_xy": 0.005136215224273889,
+            "object_to_gripper_z": -0.0009308161568370998,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27641813897105977,
+              -0.18611917625510324,
+              1.0052813302752401
+            ],
+            "finger_b": [
+              0.2667749350635319,
+              -0.16241425514935565,
+              1.0052813302752401
+            ],
+            "finger_midpoint": [
+              0.2715965370172958,
+              -0.17426671570222946,
+              1.0052813302752401
+            ],
+            "object_minus_finger_midpoint": [
+              0.004821601953763965,
+              0.011852460552873811,
+              0.0
+            ],
+            "finger_gap": 0.025591300596723852,
+            "fingertip_max_gap": 0.09414022714511744,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0052813302752401,
+            "object_top_z": 1.0553901716935123,
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+            "fingertip_min_top_clearance": 0.015032652425481645,
+            "object_projection_between_fingers": 0.858009926488291,
+            "object_to_finger_line_xy": 0.00893238649480164,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04957011357255872,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.350988011008343,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.30122868335310854,
+              0.04358499389760948,
+              0.7701465090059014
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+            "gripper_position": [
+              0.2964787433327303,
+              0.006946377912174159,
+              1.0378766941617008
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+            "target_minus_gripper": [
+              0.004749940020378263,
+              0.03663861598543532,
+              -0.2677301851557994
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+            "held_position": [
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+              0.01074388145051299,
+              1.0368931016363763
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+            "held_minus_target": [
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+              -0.03284111244709649,
+              0.26674659263047484
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+            "held_minus_gripper": [
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+              0.003797503538338831,
+              -0.0009835925253245392
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+            "xy_dist": 0.03694523124200724,
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+            "held_gripper_dist": 0.005215898520932095,
+            "max_held_gripper_dist": 0.0052205024908201815,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059014,
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+            "required_height": 0.8001465090059015,
+            "gripper_z": 1.0378766941617008,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.03562960601501,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 4.260916076335586,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 0.7544070369777783,
+            "max_source_tilt_deg": 89.71689430586326,
+            "source_upright_tilt_deg": 4.014173687891668,
+            "max_source_upright_tilt_deg": 89.91734944910341,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.7544070369777783,
+            "source_upright_return_tilt_deg": 4.014173687891668,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.156641147752108e-07,
+            "max_target_xy_drift": 1.1926748300777466e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3012,
+                0.0436,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0436,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0002,
+                -0.0015
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+              "controller_last_pour_pose_position": [
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+                1.0338
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.5797183513641357
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0002,
+              -0.0015
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0186,
+              1.0338
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+            "pour_controller_source_return_step_error_deg": 0.7543021136641198,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.014132520881334,
+            "pour_controller_source_return_best_wrist_position": -1.5797183513641357,
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+            "pour_controller_wrist_compensated_return_position": -1.5797183513641357,
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03694523124200724,
+            "valid_pour_held_xy_dist": 0.03286732263041397,
+            "valid_pour_held_gripper_dist": 0.005215898520932095,
+            "valid_pour_required_height": 0.8001465090059015,
+            "valid_pour_held_z": 1.0368931016363763,
+            "valid_pour_source_tilt_deg": 0.7544070369777783,
+            "valid_pour_source_upright_tilt_deg": 4.014173687891668,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.156641147752108e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2999163456950013,
+              -0.012700131852560506,
+              1.0368931016363763
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2900459245511665,
+              0.01074388145051299,
+              1.0368931016363763
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2949811351230839,
+              -0.0009781252010237582,
+              1.0368931016363763
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2999163456950013,
+              0.01074388145051299,
+              1.0368931016363763
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02543711802290794,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024064203031698886,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0686600238669237,
+              -0.9975467671877086,
+              0.01364728529580761
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057305659100120535,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038365851905557906,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2999163456950013,
+              -0.012700131852560506,
+              1.0368931016363763
+            ],
+            "held_grasp_finger_b": [
+              0.2900459245511665,
+              0.01074388145051299,
+              1.0368931016363763
+            ],
+            "held_grasp_midpoint": [
+              0.2949811351230839,
+              -0.0009781252010237582,
+              1.0368931016363763
+            ],
+            "held_grasp_object_position": [
+              0.2999163456950013,
+              0.01074388145051299,
+              1.0368931016363763
+            ],
+            "held_grasp_finger_gap": 0.02543711802290794,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024064203031698886,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0686600238669237,
+              -0.9975467671877086,
+              0.01364728529580761
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0057305659100120535,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038365851905557906,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23817808608205304,
+              -0.1539282977743691,
+              0.761106387936444
+            ],
+            "target_position": [
+              0.2550245910982321,
+              -0.1656619482632956,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02053005808702041,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.204931139226741,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106387936444,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07724033244079428,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09202111800462594,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18037805690739675,
+            "release_required_pad_clearance": 0.05601055900231297,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.262169804393902,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd8f0fb551f8b76eeb2ae6f3f87f83b2f4c60d80e39c47a4bcfb43e084225704",
+    "visual_seed": 3219585435630513085,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..27f463c6b0dbd9303e14fb7194ca1ce8fc0deb9b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_42_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27672425138656126,
+              -0.16527638254318647,
+              1.0039816258492011
+            ],
+            "current_z": 1.0039816258492011,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14287517743907996,
+            "gripper_z": 1.0056215990938318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27318444445151446,
+              -0.16919668472987448,
+              1.0056215990938318
+            ],
+            "object_minus_gripper": [
+              0.0035398069350467964,
+              0.003920302186688013,
+              -0.0016399732446306103
+            ],
+            "object_to_gripper_xy": 0.005281950621915753,
+            "object_to_gripper_z": -0.0016399732446306103,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27672425138656126,
+              -0.18882003103610148,
+              1.0039816258492011
+            ],
+            "finger_b": [
+              0.2665270928489033,
+              -0.16527638254318647,
+              1.0039816258492011
+            ],
+            "finger_midpoint": [
+              0.27162567211773225,
+              -0.17704820678964397,
+              1.0039816258492011
+            ],
+            "object_minus_finger_midpoint": [
+              0.005098579268829007,
+              0.011771824246457507,
+              0.0
+            ],
+            "finger_gap": 0.02565707361723215,
+            "fingertip_max_gap": 0.09420859068006543,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012828536808616085,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0039816258492011,
+            "object_top_z": 1.0538536622602779,
+            "finger_top_clearance": 0.04987203641107674,
+            "fingertip_min_top_clearance": 0.014961610923323003,
+            "object_projection_between_fingers": 0.8420410994373979,
+            "object_to_finger_line_xy": 0.009357197933746503,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04960429534003272,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.9098459835014827,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25790417449301734,
+              -0.1735687556454354,
+              0.7611064892290631
+            ],
+            "target_position": [
+              0.2544075394657517,
+              -0.1699867271455506,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005005735179560339,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2170702351551239,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064892290631,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572433848609743,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09098528024450438,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18679843822894093,
+            "release_required_pad_clearance": 0.05549264012225219,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.126870730421813,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cbb6505f261a4c61fca82f579c45e276dcdc5fdd1f10a691e993f493ecd0b322",
+    "visual_seed": 732224055183337026,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab143538ad5f79681c271e5c1fc87a1b0591f144
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_43_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+            "stable_success_frames": 161,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d74fb2fa01757db3a1596dc827fad83f511e645acd16a8154ee25a957903786",
+    "visual_seed": 3460026528520715795,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_44_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ab517b771e59866a60a41b3891f5050295e5e73
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_44_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+          "metrics": {
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+              1.0014001012586595
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+            "lift_margin": 0.14029365284853845,
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+              -0.16722241621315004,
+              1.0028776478858101
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+              0.0038075034649014128,
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+            "object_to_gripper_z": -0.0014775466271506055,
+            "fingertip_source": "active_contact_pad_positions",
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+              1.0014001012586595
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+              -0.16341491274824863,
+              1.0014001012586595
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+              -0.17526400232559575,
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+              0.011849089577347122,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.036265923498801964,
+              0.7701463897966117
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+              -0.0005277598376583342,
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+              0.003824236150892559,
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+            "end_effector_tilt_deg": null,
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+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                0.0,
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+              "tilt_axis_frame": "end_effector",
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+              "approach_xy_threshold_m": 0.08,
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_effective_target_deg": 8.0,
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+            "pour_controller_wrist_compensated_return_position": -1.5800138711929321,
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_xy_dist": 0.03299299556240295,
+            "valid_pour_held_gripper_dist": 0.005375918238583965,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0362476175340256,
+            "valid_pour_source_tilt_deg": 0.7858833898802047,
+            "valid_pour_source_upright_tilt_deg": 4.057046976573562,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.960037906741593e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29979407431970906,
+              -0.020065369081853603,
+              1.0362476175340256
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2898238232968674,
+              0.0032964763132342246,
+              1.0362476175340256
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29480894880828823,
+              -0.008384446384309688,
+              1.0362476175340256
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29979407431970906,
+              0.0032964763132342246,
+              1.0362476175340256
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025400427668101605,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02398920534747844,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.06879488228121199,
+              -0.9974941066491168,
+              0.016515791600607895
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005780028205241401,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03841154964178636,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29979407431970906,
+              -0.020065369081853603,
+              1.0362476175340256
+            ],
+            "held_grasp_finger_b": [
+              0.2898238232968674,
+              0.0032964763132342246,
+              1.0362476175340256
+            ],
+            "held_grasp_midpoint": [
+              0.29480894880828823,
+              -0.008384446384309688,
+              1.0362476175340256
+            ],
+            "held_grasp_object_position": [
+              0.29979407431970906,
+              0.0032964763132342246,
+              1.0362476175340256
+            ],
+            "held_grasp_finger_gap": 0.025400427668101605,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02398920534747844,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06879488228121199,
+              -0.9974941066491168,
+              0.016515791600607895
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005780028205241401,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03841154964178636,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2441767929179641,
+              -0.14446945941895628,
+              0.7611064768081658
+            ],
+            "target_position": [
+              0.25868961454319456,
+              -0.16583443445242105,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.025827972233730036,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20709904091672984,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064768081658,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08353329489860016,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08674653142262238,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18497481425656356,
+            "release_required_pad_clearance": 0.053373265711311194,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7623119704592265,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 192,
+            "max_placed_release_frames": 192
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2331f80c9fb08e16485b98da77a12d8e5c35f1288be78a2ea59fa60c7ba53698",
+    "visual_seed": 5517061552684314205,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_45_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..78baacd1fdabb1da2420e149c7b21470266cbcbd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_45_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2765523496222247,
+              -0.1660123528692749,
+              1.0021890804453326
+            ],
+            "current_z": 1.0021890804453326,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.14108269163985632,
+            "gripper_z": 1.0039263707473915,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27295991197718183,
+              -0.17000793498637518,
+              1.0039263707473915
+            ],
+            "object_minus_gripper": [
+              0.0035924376450428563,
+              0.0039955821171002714,
+              -0.0017372903020589359
+            ],
+            "object_to_gripper_xy": 0.005373107544802407,
+            "object_to_gripper_z": -0.0017372903020589359,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2765523496222247,
+              -0.18955113040971602,
+              1.0021890804453326
+            ],
+            "finger_b": [
+              0.2661696900770183,
+              -0.1660123528692749,
+              1.0021890804453326
+            ],
+            "finger_midpoint": [
+              0.27136101984962147,
+              -0.17778174163949545,
+              1.0021890804453326
+            ],
+            "object_minus_finger_midpoint": [
+              0.005191329772603226,
+              0.011769388770220546,
+              0.0
+            ],
+            "finger_gap": 0.025726905514073018,
+            "fingertip_max_gap": 0.09409432332609094,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012863452757036509,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0021890804453326,
+            "object_top_z": 1.0521483777893854,
+            "finger_top_clearance": 0.0499592973440528,
+            "fingertip_min_top_clearance": 0.014987789203215822,
+            "object_projection_between_fingers": 0.8371296146793047,
+            "object_to_finger_line_xy": 0.00949959229177654,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04954716166304547,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5279792517132003,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "fr3_joint6",
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+                "fr3_leftfinger",
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+                "franka",
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+                "gripper",
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+                "joint1",
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+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2573078775603674,
+              -0.16521620255329966,
+              0.7611066562733513
+            ],
+            "target_position": [
+              0.25380679783005816,
+              -0.16906888613798451,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005205836155862207,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.220544957891152,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066562733513,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545054316322132,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569137898782488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19207538857895892,
+            "release_required_pad_clearance": 0.05284568949391244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7338164117027604,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 195,
+            "max_placed_release_frames": 195
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78731266d42c512e52ad63d0e35afa8c03a3ffb78247e0ff8e43d4b546df7fa7",
+    "visual_seed": 5367837444458090720,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b12bd9214435c9b5155c327945a8a0013bbc726c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_46_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+            "stable_success_frames": 162,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.95405567910542,
+            "source_upright_tilt_deg": 3.2923734297688743,
+            "max_source_upright_tilt_deg": 89.88550509548188,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.725290298461914e-09,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f680e3ac8d58d9b5607aed68fbcc3bc2ef8ce7be266fe7e79a899b18604d78f",
+    "visual_seed": 1816539806863706286,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..27fb0384733b79801471423eabf58a2679c9e190
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_47_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.0015920249192225
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+              1.0027461530341863
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+              1.0015920249192225
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+              -0.18130441340699632,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "missing_end_effector_orientation_samples": 0,
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+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3001914123960524,
+              -0.01575790654786467,
+              1.0371354719004466
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2907783619121374,
+              0.0073040600602716325,
+              1.0371354719004466
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29548488715409493,
+              -0.004226923243796518,
+              1.0371354719004466
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3001914123960524,
+              0.0073040600602716325,
+              1.0371354719004466
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02490903095761708,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02340876159244618,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.040003569759471724,
+              -0.9987095360131887,
+              0.03128860947406298
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005176420831707082,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038392424895554694,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3001914123960524,
+              -0.01575790654786467,
+              1.0371354719004466
+            ],
+            "held_grasp_finger_b": [
+              0.2907783619121374,
+              0.0073040600602716325,
+              1.0371354719004466
+            ],
+            "held_grasp_midpoint": [
+              0.29548488715409493,
+              -0.004226923243796518,
+              1.0371354719004466
+            ],
+            "held_grasp_object_position": [
+              0.3001914123960524,
+              0.0073040600602716325,
+              1.0371354719004466
+            ],
+            "held_grasp_finger_gap": 0.02490903095761708,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02340876159244618,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.040003569759471724,
+              -0.9987095360131887,
+              0.03128860947406298
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005176420831707082,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038392424895554694,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23835258472948506,
+              -0.15368771007502172,
+              0.7611063640172973
+            ],
+            "target_position": [
+              0.2629768659344426,
+              -0.1727273259025937,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.031126551298246232,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.19975483358626475,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063640172973,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08376770661548372,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08822792561924127,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17704573949321342,
+            "release_required_pad_clearance": 0.054113962809620636,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2417571958671836,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 186,
+            "max_placed_release_frames": 186
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "addc9149f48280d7adfcc53716a65150e64ec1c0f709bf68ae35fd65d7f794fb",
+    "visual_seed": 3095142257117395682,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6bf8ce2d322e679d716d2553a0797332aaec84a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_49_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27836933633662525,
+              -0.1624433195319761,
+              1.002371729257058
+            ],
+            "current_z": 1.002371729257058,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1412652808469369,
+            "gripper_z": 1.0036260754592632,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27507056199318874,
+              -0.16629678964129946,
+              1.0036260754592632
+            ],
+            "object_minus_gripper": [
+              0.0032987743434365058,
+              0.0038534701093233537,
+              -0.0012543462022052143
+            ],
+            "object_to_gripper_xy": 0.005072587510567313,
+            "object_to_gripper_z": -0.0012543462022052143,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27836933633662525,
+              -0.18569821109664367,
+              1.002371729257058
+            ],
+            "finger_b": [
+              0.26807670019233526,
+              -0.1624433195319761,
+              1.002371729257058
+            ],
+            "finger_midpoint": [
+              0.27322301826448026,
+              -0.17407076531430987,
+              1.002371729257058
+            ],
+            "object_minus_finger_midpoint": [
+              0.005146318072144995,
+              0.011627445782333767,
+              0.0
+            ],
+            "finger_gap": 0.025430854104476933,
+            "fingertip_max_gap": 0.09342515088852413,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012715427052238455,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002371729257058,
+            "object_top_z": 1.0521645348559336,
+            "finger_top_clearance": 0.04979280559887567,
+            "fingertip_min_top_clearance": 0.0149378416796627,
+            "object_projection_between_fingers": 0.836193418213906,
+            "object_to_finger_line_xy": 0.009411958264032693,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049212575444262066,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2887918722202683,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2651097035583721,
+              -0.16277293149513367,
+              0.761112759535564
+            ],
+            "target_position": [
+              0.25583665195744926,
+              -0.16758005416641647,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010444994704169975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22156033485512575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761112759535564,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580192113398518,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593948121789334,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1922116749096338,
+            "release_required_pad_clearance": 0.05296974060894667,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.969126404003845,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a449bdb0d10f7971aef0b4a17d6cfcbaddabb0a9fb67d81da0f770e034f656a",
+    "visual_seed": 8460884189318175895,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..601d61f6329fcc0442ada1ca1d95ae859a175f95
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_4_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.277930387666927,
+              -0.16055343685829498,
+              1.0037395097684918
+            ],
+            "current_z": 1.0037395097684918,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.1426331209630154,
+            "gripper_z": 1.0045724018856572,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2744945285467859,
+              -0.16446042193045252,
+              1.0045724018856572
+            ],
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+              0.003435859120141105,
+              0.003906985072157532,
+              -0.000832892117165418
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+            "object_to_gripper_xy": 0.005202851165228408,
+            "object_to_gripper_z": -0.000832892117165418,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.277930387666927,
+              -0.18395883880224084,
+              1.0037395097684918
+            ],
+            "finger_b": [
+              0.2676510553533008,
+              -0.16055343685829498,
+              1.0037395097684918
+            ],
+            "finger_midpoint": [
+              0.2727907215101139,
+              -0.1722561378302679,
+              1.0037395097684918
+            ],
+            "object_minus_finger_midpoint": [
+              0.005139666156813105,
+              0.01170270097197293,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8383040415064011,
+            "object_to_finger_line_xy": 0.009411648222516293,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049321164654718516,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3748790145234353,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04198280614488579,
+              0.7701465090059012
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+            "gripper_position": [
+              0.2936060833293812,
+              0.00519540044169188,
+              1.0382603155311223
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+            "target_minus_gripper": [
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+              0.03678740570319391,
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+            "held_position": [
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+              0.009013526903885669,
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+            "held_minus_target": [
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+              0.26724508090889043
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+            "held_minus_gripper": [
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+              0.0038181264621937883,
+              -0.0008687256163306678
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+            "xy_dist": 0.036990690725221965,
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+            "held_gripper_dist": 0.005260545561404273,
+            "max_held_gripper_dist": 0.005269593662982248,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059012,
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+            "required_height": 0.8001465090059012,
+            "gripper_z": 1.0382603155311223,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.06309379666763,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 3.00200976669348,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9693468391601545,
+            "max_source_tilt_deg": 89.71495359815583,
+            "source_upright_tilt_deg": 3.202747024306985,
+            "max_source_upright_tilt_deg": 89.9374837620782,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9693468391601545,
+            "source_upright_return_tilt_deg": 3.202747024306985,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.3726900748371916e-08,
+            "max_target_xy_drift": 2.1912814929861936e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2975,
+                0.042,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.042,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0016,
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                ],
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+              },
+              "source_pose_feedback": true,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6024640798568726
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
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+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0016178180407391892,
+                0.001998506973522338
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.2027417234070903,
+            "pour_controller_source_return_step_error_deg": 1.9693660869028013,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.1955440920927534,
+            "pour_controller_source_return_best_wrist_position": -1.6024640798568726,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6024640798568726,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.036990690725221965,
+            "valid_pour_held_xy_dist": 0.032971242560032976,
+            "valid_pour_held_gripper_dist": 0.005260545561404273,
+            "valid_pour_required_height": 0.8001465090059012,
+            "valid_pour_held_z": 1.0373915899147916,
+            "valid_pour_source_tilt_deg": 1.9693468391601545,
+            "valid_pour_source_upright_tilt_deg": 3.202747024306985,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.3726900748371916e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29711899746522863,
+              -0.01424568761189759,
+              1.0373915899147916
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.287442319387787,
+              0.009013526903885669,
+              1.0373915899147916
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29228065842650786,
+              -0.0026160803540059606,
+              1.0373915899147916
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29711899746522863,
+              0.009013526903885669,
+              1.0373915899147916
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025191847064192443,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023636350470639847,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04272794911909631,
+              -0.9984380962799256,
+              0.03599569781229429
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005346949143737002,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03831553944330994,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29711899746522863,
+              -0.01424568761189759,
+              1.0373915899147916
+            ],
+            "held_grasp_finger_b": [
+              0.287442319387787,
+              0.009013526903885669,
+              1.0373915899147916
+            ],
+            "held_grasp_midpoint": [
+              0.29228065842650786,
+              -0.0026160803540059606,
+              1.0373915899147916
+            ],
+            "held_grasp_object_position": [
+              0.29711899746522863,
+              0.009013526903885669,
+              1.0373915899147916
+            ],
+            "held_grasp_finger_gap": 0.025191847064192443,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023636350470639847,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04272794911909631,
+              -0.9984380962799256,
+              0.03599569781229429
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005346949143737002,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03831553944330994,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24445780104545514,
+              -0.14910760197033768,
+              0.761106608309631
+            ],
+            "target_position": [
+              0.25555180283286444,
+              -0.16413099023201405,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.018675627714219302,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20706475698818375,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106608309631,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08072540537213753,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08813872810535543,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18205785117159198,
+            "release_required_pad_clearance": 0.05406936405267772,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1513957936771497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 189,
+            "max_placed_release_frames": 189
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d2f757975576781ebe008dde71c09a133297b0e02beda9522803c1e9103ff5ab",
+    "visual_seed": 3131321739355385814,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..127601f5ef86435811dd1fa419426b51bc5e6f0f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_50_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              1.0053928831947934
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+              0.0
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            "failed_keys": []
+          }
+        },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04758213517849946,
+              -0.9982266334089189,
+              0.03577050132372672
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005647294706381504,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03838771070549988,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2984861634765092,
+              -0.018889887740191496,
+              1.0369662104769963
+            ],
+            "held_grasp_finger_b": [
+              0.28831335797135815,
+              0.004300359605571435,
+              1.0369662104769963
+            ],
+            "held_grasp_midpoint": [
+              0.2933997607239337,
+              -0.00729476406731003,
+              1.0369662104769963
+            ],
+            "held_grasp_object_position": [
+              0.2984861634765092,
+              0.004300359605571435,
+              1.0369662104769963
+            ],
+            "held_grasp_finger_gap": 0.02532337939144963,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02363316634257173,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04758213517849946,
+              -0.9982266334089189,
+              0.03577050132372672
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005647294706381504,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03838771070549988,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.258722991007253,
+              -0.1762379847848865,
+              0.7611064953357479
+            ],
+            "target_position": [
+              0.2630514979240904,
+              -0.16453205063590368,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.012480579571054843,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21516295605331398,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064953357479,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532015410110869,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09160325363723347,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18452046037367867,
+            "release_required_pad_clearance": 0.05580162681861674,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.8002548452281895,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2fcd08bc5ec175e5d5476f6671e36803ed9208e00e943fd8dc7fc788a5d26d33",
+    "visual_seed": 4728236927308612362,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8433e42e6c7486f102d19b31d6277ccb43c36c62
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_51_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28002118799433406,
+              -0.16887732147660478,
+              1.0043690693473533
+            ],
+            "current_z": 1.0043690693473533,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1432625613325873,
+            "gripper_z": 1.0055089163383075,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2766501432755534,
+              -0.1727032830176422,
+              1.0055089163383075
+            ],
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+              0.0033710447187806913,
+              0.003825961541037426,
+              -0.001139846990954263
+            ],
+            "object_to_gripper_xy": 0.0050992081943686774,
+            "object_to_gripper_z": -0.001139846990954263,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28002118799433406,
+              -0.1923332327057147,
+              1.0043690693473533
+            ],
+            "finger_b": [
+              0.26999868698594814,
+              -0.16887732147660478,
+              1.0043690693473533
+            ],
+            "finger_midpoint": [
+              0.27500993749014113,
+              -0.18060527709115975,
+              1.0043690693473533
+            ],
+            "object_minus_finger_midpoint": [
+              0.005011250504192932,
+              0.011727955614554975,
+              0.0
+            ],
+            "finger_gap": 0.0255074557345687,
+            "fingertip_max_gap": 0.09387832385126468,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0542500449890224,
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+            "object_projection_between_fingers": 0.8456104384256237,
+            "object_to_finger_line_xy": 0.009216399173350967,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049439161925632344,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5094591027180346,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              0.7611062650393721
+            ],
+            "target_position": [
+              0.25786156662678045,
+              -0.17099460571561007,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02182083546858811,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20628367419287377,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611062650393721,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08067394675584273,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09067096215608621,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18131631850526422,
+            "release_required_pad_clearance": 0.055335481078043106,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.788564644733659,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "45bab449723353b9b4f917b404d2ffde74061ff6093db7259ee8370148201934",
+    "visual_seed": 2992946770518776523,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e2a3f6ddc47bbf6bf2dabc6581f47fe860f05ce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_52_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
+              0.28204819894324473,
+              -0.16933050508745945,
+              1.0050654007140212
+            ],
+            "current_z": 1.0050654007140212,
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+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1439589523039,
+            "gripper_z": 1.0061036603365259,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1729973542240097,
+              1.0061036603365259
+            ],
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+              0.0030639796238165484,
+              0.003666849136550243,
+              -0.0010382596225047003
+            ],
+            "object_to_gripper_xy": 0.004778467717310881,
+            "object_to_gripper_z": -0.0010382596225047003,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28204819894324473,
+              -0.19257688715682006,
+              1.0050654007140212
+            ],
+            "finger_b": [
+              0.2722822097717892,
+              -0.16933050508745945,
+              1.0050654007140212
+            ],
+            "finger_midpoint": [
+              0.27716520435751696,
+              -0.18095369612213974,
+              1.0050654007140212
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011623191034680291,
+              0.0
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+            "finger_gap": 0.02521445664319732,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009003720317175426,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900800275624084,
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+            "object_tilt_deg": 2.928989804283883,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.29664645707671083,
+              0.041055529235534446,
+              0.7701463897966114
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+            "gripper_position": [
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+              0.003987190830745543,
+              1.0378882764449837
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+              0.0370683384047889,
+              -0.2677418866483723
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+              0.007612771329224173,
+              1.0368097775986629
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+            "held_minus_target": [
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+              0.26666338780205145
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+              0.0036255804984786297,
+              -0.00107849884632083
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+            "held_gripper_dist": 0.004878807572475679,
+            "max_held_gripper_dist": 0.004891231246086546,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001463897966115,
+            "gripper_z": 1.0378882764449837,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.0259512279611,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 2.8173306298337817,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9805356625127986,
+            "max_source_tilt_deg": 89.91288550752552,
+            "source_upright_tilt_deg": 3.574440168958756,
+            "max_source_upright_tilt_deg": 89.87963839964866,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9805356625127986,
+            "source_upright_return_tilt_deg": 3.574440168958756,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.960037906741593e-08,
+            "max_target_xy_drift": 1.1926748300777466e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2966,
+                0.0411,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0411,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0009,
+                -0.0019,
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              ],
+              "height_range_2": [
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6041035652160645
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2966,
+              0.0411,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0019,
+              0.0007
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0361
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+            "pour_controller_controller_t": 0.0,
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+              0.0603,
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0009320715926186413,
+                -0.001874827243203856,
+                0.0007477797485717871
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.5744344348198736,
+            "pour_controller_source_return_step_error_deg": 1.9805293362007057,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.5717776978761804,
+            "pour_controller_source_return_best_wrist_position": -1.6041035652160645,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6041035652160645,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.037197671354456834,
+            "valid_pour_held_xy_dist": 0.03344276266565051,
+            "valid_pour_held_gripper_dist": 0.004878807572475679,
+            "valid_pour_required_height": 0.8001463897966115,
+            "valid_pour_held_z": 1.0368097775986629,
+            "valid_pour_source_tilt_deg": 1.9805356625127986,
+            "valid_pour_source_upright_tilt_deg": 3.574440168958756,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.960037906741593e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29662861524527373,
+              -0.015177337227817939,
+              1.0368097775986629
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2870700232538515,
+              0.007612771329224173,
+              1.0368097775986629
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2918493192495626,
+              -0.003782282949296883,
+              1.0368097775986629
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29662861524527373,
+              0.007612771329224173,
+              1.0368097775986629
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02471347261920601,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02323862376262429,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05156093648188543,
+              -0.9980546495058226,
+              0.03504834416802848
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005375014159687319,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038593788143308896,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29662861524527373,
+              -0.015177337227817939,
+              1.0368097775986629
+            ],
+            "held_grasp_finger_b": [
+              0.2870700232538515,
+              0.007612771329224173,
+              1.0368097775986629
+            ],
+            "held_grasp_midpoint": [
+              0.2918493192495626,
+              -0.003782282949296883,
+              1.0368097775986629
+            ],
+            "held_grasp_object_position": [
+              0.29662861524527373,
+              0.007612771329224173,
+              1.0368097775986629
+            ],
+            "held_grasp_finger_gap": 0.02471347261920601,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02323862376262429,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05156093648188543,
+              -0.9980546495058226,
+              0.03504834416802848
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005375014159687319,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038593788143308896,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25073909162978547,
+              -0.15705251823708063,
+              0.7611165609785719
+            ],
+            "target_position": [
+              0.26030750492912624,
+              -0.17140198136019974,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0172470758387837,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2118904225876019,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611165609785719,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07928187693194924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625838201809603,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18700225072453555,
+            "release_required_pad_clearance": 0.05312919100904802,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2622760682025262,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 189,
+            "max_placed_release_frames": 189
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93c2d3768312090dcebb7e620402a92e935c18a9b708a96e0c3bc3c806740947",
+    "visual_seed": 5400896971805363141,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39380b0b5859251cdfe8d418da3a1fbb86588d76
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_53_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+            "held_grasp_finger_a": [
+              0.3007298590093753,
+              -0.013413985151278543,
+              1.0364334460737763
+            ],
+            "held_grasp_finger_b": [
+              0.2908415956307832,
+              0.00989834804321583,
+              1.0364334460737763
+            ],
+            "held_grasp_midpoint": [
+              0.29578572732007924,
+              -0.0017578185540313568,
+              1.0364334460737763
+            ],
+            "held_grasp_object_position": [
+              0.3007298590093753,
+              0.00989834804321583,
+              1.0364334460737763
+            ],
+            "held_grasp_finger_gap": 0.025322769035307533,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023920232905569105,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06696104754934015,
+              -0.9976738165696611,
+              0.012773951715154608
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005715428727691426,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038422262091584815,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24429179486775318,
+              -0.15276212342610726,
+              0.7611126750048062
+            ],
+            "target_position": [
+              0.26257170705016775,
+              -0.16525283156456996,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.022139850478199868,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20569047641524932,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611126750048062,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07942741291158383,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08939994877008221,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1805528330873515,
+            "release_required_pad_clearance": 0.05469997438504111,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.434339552987601,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 178,
+            "max_placed_release_frames": 178
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bdd5a507c22c86dc6ac08debe1b7ccee20d5f748369c0029643c7058e730642",
+    "visual_seed": 3060569314492699681,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ea61935122a7fa938593e19769b5a118ba6200
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_54_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
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+              0.28518069176087696,
+              -0.16834702055143289,
+              1.003030975500689
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+            "current_z": 1.003030975500689,
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+            "gripper_z": 1.0038597693998101,
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+            "gripper_position": [
+              0.28135268133068525,
+              -0.17234686435512442,
+              1.0038597693998101
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+              0.003999843803691533,
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+            "object_to_gripper_z": -0.0008287938991211607,
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+              0.28518069176087696,
+              -0.19221812824703383,
+              1.003030975500689
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+              -0.16834702055143289,
+              1.003030975500689
+            ],
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+              0.280152576698826,
+              -0.18028257439923334,
+              1.003030975500689
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+              0.005028115062050975,
+              0.011935553847800456,
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+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8492784457488658,
+            "object_to_finger_line_xy": 0.00926745005351072,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0495034447370767,
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7926741910452213,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5d5f8eb5b64a6bd3c24143c2fb156e0bc8779cf90f324ea09d50209bbd072bd1",
+    "visual_seed": 5660074272282729341,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1f148d9de9f346fdb0ea1883eb243b4221d4202
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_55_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2794687949656354,
+              -0.1594878323863735,
+              1.005040328384827
+            ],
+            "current_z": 1.005040328384827,
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+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14393382037006097,
+            "gripper_z": 1.0061663532119447,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1629711468636043,
+              1.0061663532119447
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+              0.003483314477230798,
+              -0.0011260248271176554
+            ],
+            "object_to_gripper_xy": 0.004407166647439043,
+            "object_to_gripper_z": -0.0011260248271176554,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2794687949656354,
+              -0.18248816667816373,
+              1.005040328384827
+            ],
+            "finger_b": [
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+              -0.1594878323863735,
+              1.005040328384827
+            ],
+            "finger_midpoint": [
+              0.2747400678267361,
+              -0.17098799953226862,
+              1.005040328384827
+            ],
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+              0.011500167145895107,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.012434416139798772,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048449409583171205,
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+            "object_tilt_deg": 1.8789019510191782,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.03800209504240014,
+              0.7701464494012566
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+              0.0013167850576442791,
+              1.037679469411609
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+              0.0034005851266480057,
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+            "target_z": 0.7701464494012566,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.06407734390811,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.96108875662213,
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+            "max_source_upright_tilt_deg": 89.87437564227078,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 5.686408848491962e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.038,
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+              "controller_target_position": [
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+                0.7701
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+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_lock_target_position": true,
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+              0.0016,
+              -0.0009,
+              0.0004
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3033,
+              0.0119,
+              1.0358
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0649,
+              0.0603,
+              0.0904
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+              0.3,
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                -0.0008844540491302767,
+                0.00040654556498787627
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.112441300113089,
+            "pour_controller_source_return_step_error_deg": 1.991978593161925,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.103122099969346,
+            "pour_controller_source_return_best_wrist_position": -1.6035677194595337,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6035677194595337,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.036957189262146306,
+            "valid_pour_held_xy_dist": 0.0333285488788208,
+            "valid_pour_held_gripper_dist": 0.004537455586402339,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.0365073808284153,
+            "valid_pour_source_tilt_deg": 1.9919536533138251,
+            "valid_pour_source_upright_tilt_deg": 2.112436405104072,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.686408848491962e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2999852831585874,
+              -0.018090690153464647,
+              1.0365073808284153
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2910523857789551,
+              0.004717370184292285,
+              1.0365073808284153
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29551883446877125,
+              -0.006686659984586181,
+              1.0365073808284153
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2999852831585874,
+              0.004717370184292285,
+              1.0365073808284153
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.024494984628813363,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.022962012845212994,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01896946644669264,
+              -0.9993204249099182,
+              0.03160455189665623
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004695722655515322,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03840869594460325,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2999852831585874,
+              -0.018090690153464647,
+              1.0365073808284153
+            ],
+            "held_grasp_finger_b": [
+              0.2910523857789551,
+              0.004717370184292285,
+              1.0365073808284153
+            ],
+            "held_grasp_midpoint": [
+              0.29551883446877125,
+              -0.006686659984586181,
+              1.0365073808284153
+            ],
+            "held_grasp_object_position": [
+              0.2999852831585874,
+              0.004717370184292285,
+              1.0365073808284153
+            ],
+            "held_grasp_finger_gap": 0.024494984628813363,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.022962012845212994,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01896946644669264,
+              -0.9993204249099182,
+              0.03160455189665623
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004695722655515322,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03840869594460325,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24286547247922538,
+              -0.14833034746963278,
+              0.7611111542045529
+            ],
+            "target_position": [
+              0.258350694930267,
+              -0.16414245859934598,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.022131763886700136,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20727769697914122,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611111542045529,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08043382711648672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08872080595292624,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1836065799375224,
+            "release_required_pad_clearance": 0.05436040297646312,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.736878887626572,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5ae46df54041379cd053b2ffe11e71c2d156f196740c8b3de21568c6d32e8ec",
+    "visual_seed": 7931997686384658038,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cc9ecc590a9b729af0037574a4ce6f371d2a587
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_56_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28424747181326926,
+              -0.17103034304213383,
+              1.0055441161720071
+            ],
+            "current_z": 1.0055441161720071,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14443760815724094,
+            "gripper_z": 1.0061029979388145,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2807791279228301,
+              -0.1749203956294928,
+              1.0061029979388145
+            ],
+            "object_minus_gripper": [
+              0.0034683438904391517,
+              0.003890052587358972,
+              -0.0005588817668074064
+            ],
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05106394006995308,
+              -0.9980327495538296,
+              0.036374508141761124
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005484815577022,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03840697327949317,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24740346347164915,
+              -0.15280257984487086,
+              0.7611064597194607
+            ],
+            "target_position": [
+              0.2622450677807873,
+              -0.17316918178286742,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02520062882092099,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20657087025972906,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064597194607,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08357542511080968,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866145627837339,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1837525931987852,
+            "release_required_pad_clearance": 0.053307281391866954,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6327461770288592,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b49372a150b69f09d2aabfcfd84aac1ab8806d8044210d0a1b6d722a1b6b934b",
+    "visual_seed": 5507963750746217276,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce3a6dbb82cd0812cd303d157bab720f819d5b3d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_59_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2771555995251651,
+              -0.16054083411015696,
+              1.0024678532480102
+            ],
+            "current_z": 1.0024678532480102,
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+            "lift_margin": 0.1413613452332445,
+            "gripper_z": 1.003752360543138,
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+            "gripper_position": [
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+              -0.16454865566000848,
+              1.003752360543138
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+              0.00400782154985152,
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+              -0.18400510100781783,
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+              -0.16054083411015696,
+              1.0024678532480102
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+              0.27190595266611534,
+              -0.1722729675589874,
+              1.0024678532480102
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01173213344883045,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009583623884582924,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049192134833060605,
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+            "object_tilt_deg": 3.2507850749771583,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.29293851172987856,
+              0.04438850921266533,
+              0.7701463301919671
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+            "gripper_position": [
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+              0.0077671016506458,
+              1.0378333485154732
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+            "target_minus_gripper": [
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+            "held_position": [
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+              0.01168980681144922,
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+            "held_minus_target": [
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+              -0.03269870240121611,
+              0.26637846153043965
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+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "89a53788cd8deffc477b464595f82191277ae99e40c5dbbf57b1b816e8d2dbeb",
+    "visual_seed": 7719007820819589225,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0760f7dae8771ddad6984164486334571c4f647c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_5_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.2823624825844237,
+              -0.15932460358547207,
+              1.0022968339508718
+            ],
+            "current_z": 1.0022968339508718,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1411903259361057,
+            "gripper_z": 1.0028890662808698,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.16326514003306813,
+              1.0028890662808698
+            ],
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+              0.0035745534022982306,
+              0.003940536447596066,
+              -0.0005922323299980548
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+            "object_to_gripper_z": -0.0005922323299980548,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2823624825844237,
+              -0.1828902876325317,
+              1.0022968339508718
+            ],
+            "finger_b": [
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+              -0.15932460358547207,
+              1.0022968339508718
+            ],
+            "finger_midpoint": [
+              0.27729259475796475,
+              -0.17110744560900187,
+              1.0022968339508718
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011782842023529805,
+              0.0
+            ],
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+            "object_to_finger_line_xy": 0.00931416236898602,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04916351060956302,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.037198665409021156,
+              0.7701464494012566
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.77808528926944,
+            "source_upright_tilt_deg": 3.4453667103418852,
+            "max_source_upright_tilt_deg": 89.92578934573316,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 9.215859231988326e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+            "pour_controller_workflow_step_index": 1,
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
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+              0.2,
+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0017290586138323438,
+                -0.000608210999380383,
+                -0.001618987854092167
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.4453664597432048,
+            "pour_controller_source_return_step_error_deg": 2.0040779530721955,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.4400269797987426,
+            "pour_controller_source_return_best_wrist_position": -1.6037541627883911,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6037541627883911,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.0370199433507243,
+            "valid_pour_held_xy_dist": 0.03301603734378008,
+            "valid_pour_held_gripper_dist": 0.005347177076378823,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.0371857228135966,
+            "valid_pour_source_tilt_deg": 2.0040880800412952,
+            "valid_pour_source_upright_tilt_deg": 3.4453667103418852,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.215859231988326e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.294455227860538,
+              -0.018977215658663716,
+              1.0371857228135966
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2845328381651429,
+              0.004192238139187109,
+              1.0371857228135966
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2894940330128405,
+              -0.0073924887597383035,
+              1.0371857228135966
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.294455227860538,
+              0.004192238139187109,
+              1.0371857228135966
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.0252047100074178,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02361521334253044,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.049145098029385374,
+              -0.9981925655239129,
+              0.03458845865995186
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00553873939413427,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.0384002802130958,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.294455227860538,
+              -0.018977215658663716,
+              1.0371857228135966
+            ],
+            "held_grasp_finger_b": [
+              0.2845328381651429,
+              0.004192238139187109,
+              1.0371857228135966
+            ],
+            "held_grasp_midpoint": [
+              0.2894940330128405,
+              -0.0073924887597383035,
+              1.0371857228135966
+            ],
+            "held_grasp_object_position": [
+              0.294455227860538,
+              0.004192238139187109,
+              1.0371857228135966
+            ],
+            "held_grasp_finger_gap": 0.0252047100074178,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02361521334253044,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.049145098029385374,
+              -0.9981925655239129,
+              0.03458845865995186
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00553873939413427,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0384002802130958,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24412211043817245,
+              -0.14423251085369015,
+              0.7611063265477575
+            ],
+            "target_position": [
+              0.2607813157637069,
+              -0.16374577235947713,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.025657289347698887,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20715429140953429,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063265477575,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08324497580224943,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08728682674581133,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18397854876907097,
+            "release_required_pad_clearance": 0.053643413372905666,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.296835533128692,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a308ed465697052ee7eac5b32cb2ba6c08b71883b1026f280caecb58028554ff",
+    "visual_seed": 8572169596182414367,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..061ae1eb16dc8696feb7676ce382d790f3cb1d36
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_60_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27978100069679923,
+              -0.16386222249929713,
+              1.0032330150578903
+            ],
+            "current_z": 1.0032330150578903,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.14212662625241412,
+            "gripper_z": 1.0044489510711383,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2763896862574448,
+              -0.16760247436890752,
+              1.0044489510711383
+            ],
+            "object_minus_gripper": [
+              0.0033913144393544203,
+              0.0037402518696103837,
+              -0.0012159360132479868
+            ],
+            "object_to_gripper_xy": 0.00504881151110811,
+            "object_to_gripper_z": -0.0012159360132479868,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27978100069679923,
+              -0.18739031430526498,
+              1.0032330150578903
+            ],
+            "finger_b": [
+              0.2700333253127001,
+              -0.16386222249929713,
+              1.0032330150578903
+            ],
+            "finger_midpoint": [
+              0.27490716300474966,
+              -0.17562626840228107,
+              1.0032330150578903
+            ],
+            "object_minus_finger_midpoint": [
+              0.004873837692049576,
+              0.011764045902983938,
+              0.0
+            ],
+            "finger_gap": 0.025467396400571142,
+            "fingertip_max_gap": 0.09487873045739723,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2394498671508313,
+              -0.14765075838124642,
+              0.7611104348655747
+            ],
+            "target_position": [
+              0.2583639911627366,
+              -0.1676915695833965,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0275568176823442,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20645478584789823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611104348655747,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08286167474317366,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08861265485548346,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1841450753732752,
+            "release_required_pad_clearance": 0.05430632742774173,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6297657053884707,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9acd2e00a1235993260b09172953ff37a2190046846a98719b84897befc4e7e8",
+    "visual_seed": 4902479231530148241,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdf14589fa2493b31330c63c6bddb7649d742eb1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_61_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              -0.16490086491009773,
+              1.0042999860322717
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+            "lift_margin": 0.1431935376221506,
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+              -0.16865910050260552,
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+              -0.188212257644312,
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+              -0.16490086491009773,
+              1.0042999860322717
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+              -0.17655656127720487,
+              1.0042999860322717
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+              0.0,
+              1.0
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+            "stable_success_frames": 163,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04460607734196641,
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+              0.0037057000054329936,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001464494012562,
+            "gripper_z": 1.037977559842857,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.00535137742435,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7fbe8d620d246432d1b8dcc62a62b448fa459f4d1891aea83b914c42c7ab1eaf",
+    "visual_seed": 2251924157972694727,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66d7d4f8cfcb22706ccc59d9a6472860ca18aa0e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_62_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              -0.16980231465085793,
+              1.0044646001324322
+            ],
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+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.14335803251302148,
+            "gripper_z": 1.0054508912861604,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.17380032831363218,
+              1.0054508912861604
+            ],
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+              0.003998013662774247,
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+            ],
+            "object_to_gripper_xy": 0.005508034663071306,
+            "object_to_gripper_z": -0.0009862911537281693,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27965140462869736,
+              -0.193622921074015,
+              1.0044646001324322
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+            "finger_b": [
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+              -0.16980231465085793,
+              1.0044646001324322
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+            "finger_midpoint": [
+              0.2745824654609138,
+              -0.18171261786243648,
+              1.0044646001324322
+            ],
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+              0.011910303211578543,
+              0.0
+            ],
+            "finger_gap": 0.02588818007341794,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009328211141630571,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04939317959484657,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04410080131762482,
+              0.7701463301919671
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+            "gripper_position": [
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+              0.00745799236006528,
+              1.0379477027983233
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+              0.03664280895755954,
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+              0.01146473520987596,
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+            "held_minus_target": [
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+              0.2667756367402896
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+            "held_minus_gripper": [
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+              0.004006742849810681,
+              -0.0010257358660665794
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+            "held_gripper_dist": 0.0055916921349645965,
+            "max_held_gripper_dist": 0.00559610799117915,
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+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0379477027983233,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.02938681311362,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 0.7083901015965461,
+            "max_source_tilt_deg": 89.82320150297546,
+            "source_upright_tilt_deg": 3.918798662029844,
+            "max_source_upright_tilt_deg": 89.76326463978931,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.7083901015965461,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.064333243705223e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2969,
+                0.0441,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0441,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              ],
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_step_error_deg": 0.7083973539777898,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.9184438274391376,
+            "pour_controller_source_return_best_wrist_position": -1.579531192779541,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.579531192779541,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03680714936082576,
+            "valid_pour_held_xy_dist": 0.032637343821624656,
+            "valid_pour_held_gripper_dist": 0.0055916921349645965,
+            "valid_pour_required_height": 0.8001463301919671,
+            "valid_pour_held_z": 1.0369219669322567,
+            "valid_pour_source_tilt_deg": 0.7083901015965461,
+            "valid_pour_source_upright_tilt_deg": 3.918798662029844,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.064333243705223e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29714872297748857,
+              -0.012143540068073819,
+              1.0369219669322567
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2868933465473549,
+              0.01146473520987596,
+              1.0369219669322567
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2920210347624217,
+              -0.00033940242909892906,
+              1.0369219669322567
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29714872297748857,
+              0.01146473520987596,
+              1.0369219669322567
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025739530052493118,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024238110667935023,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.06679750761754305,
+              -0.9976619132665342,
+              0.01444990634719956
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005907114226066683,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038286228321340175,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29714872297748857,
+              -0.012143540068073819,
+              1.0369219669322567
+            ],
+            "held_grasp_finger_b": [
+              0.2868933465473549,
+              0.01146473520987596,
+              1.0369219669322567
+            ],
+            "held_grasp_midpoint": [
+              0.2920210347624217,
+              -0.00033940242909892906,
+              1.0369219669322567
+            ],
+            "held_grasp_object_position": [
+              0.29714872297748857,
+              0.01146473520987596,
+              1.0369219669322567
+            ],
+            "held_grasp_finger_gap": 0.025739530052493118,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024238110667935023,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06679750761754305,
+              -0.9976619132665342,
+              0.01444990634719956
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005907114226066683,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038286228321340175,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24110061331510968,
+              -0.1610538158194195,
+              0.7611171734415556
+            ],
+            "target_position": [
+              0.2575271049961722,
+              -0.1727082027828118,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.020140863051033953,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2056168428846564,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611171734415556,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07821442317259072,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09252278402530674,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18058177331213512,
+            "release_required_pad_clearance": 0.05626139201265337,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.817816057399445,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6833458f9f65176c7dbd7199e4be87789866921e72160c6333dcc90023aad868",
+    "visual_seed": 2154347941891380002,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66bb03ec7566795c9fb5393404b612e2bbe0d167
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_63_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27828688590755907,
+              -0.1604971170407167,
+              1.0047620388666858
+            ],
+            "current_z": 1.0047620388666858,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14365559045656462,
+            "gripper_z": 1.00598802576924,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27505944211234556,
+              -0.16422526069596755,
+              1.00598802576924
+            ],
+            "object_minus_gripper": [
+              0.0032274437952135027,
+              0.003728143655250843,
+              -0.0012259869025541548
+            ],
+            "object_to_gripper_xy": 0.004931069718169603,
+            "object_to_gripper_z": -0.0012259869025541548,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27828688590755907,
+              -0.1838776472444327,
+              1.0047620388666858
+            ],
+            "finger_b": [
+              0.26850612594359635,
+              -0.1604971170407167,
+              1.0047620388666858
+            ],
+            "finger_midpoint": [
+              0.27339650592557774,
+              -0.1721873821425747,
+              1.0047620388666858
+            ],
+            "object_minus_finger_midpoint": [
+              0.00489037998198133,
+              0.011690265101858,
+              0.0
+            ],
+            "finger_gap": 0.025343884036972943,
+            "fingertip_max_gap": 0.09451090662263156,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012671942018486461,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0047620388666858,
+            "object_top_z": 1.0549219584399523,
+            "finger_top_clearance": 0.05015991957326649,
+            "fingertip_min_top_clearance": 0.015047975871979945,
+            "object_projection_between_fingers": 0.8510642845715896,
+            "object_to_finger_line_xy": 0.009023058715827363,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049755453311315784,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.0706844560655195,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
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+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2423830772617682,
+              -0.14393552580742214,
+              0.7611064411734351
+            ],
+            "target_position": [
+              0.25698394088111715,
+              -0.16402929906601474,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.024838376400211002,
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064411734351,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08281550064106484,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08771822832455049,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1844737985905344,
+            "release_required_pad_clearance": 0.05385911416227525,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.727732879252421,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "35bb64eb0743022b35fe10ac651ac896e73e574fd0cfa3c19daa758090d43c6b",
+    "visual_seed": 7865896204833275945,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e947adfbecda8e574a4341aee87c6d46e24c6ce
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_64_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "max_source_tilt_deg": 89.9681702063427,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.041408618945514,
+            "source_upright_return_tilt_deg": 4.080223380841039,
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+            "target_xy_drift": 4.842877388000488e-08,
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+                "floor",
+                "ground",
+                "groundplane",
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+                "workbench"
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+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5227cd90eb5c45f0b6f73f8d1e41db99044324e3ad17fef988a8dbffff120ec6",
+    "visual_seed": 2987408867152622286,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..712b6c1a2f0e57d6254d0c153ef294731f8d16a6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_65_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+          "metrics": {
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+              1.0020814128216933
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+            "lift_margin": 0.1409749644115722,
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+              -0.16549232305033074,
+              1.0036823775534527
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+              0.004034112681191776,
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+            "object_to_gripper_z": -0.0016009647317594133,
+            "fingertip_source": "active_contact_pad_positions",
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+              -0.18486243302613767,
+              1.0020814128216933
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+              -0.16145821036913896,
+              1.0020814128216933
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+              -0.17316032169763831,
+              1.0020814128216933
+            ],
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+              0.011702111328499354,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.03753383350246407,
+              0.7701464494012565
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+              0.0009811685788393837,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.79554173216901,
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+            "max_source_upright_tilt_deg": 89.97612177365315,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+                0.7701
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+              "controller_target_position": [
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+              "pour_target_offset": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "approach_height_range_m": [
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+                  0.4
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+              "source_pose_held_object": "beaker_a",
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.2
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+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.0017690760566173832,
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.015575726370361,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
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+            "pour_controller_wrist_compensated_return_position": -1.602486252784729,
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.036670377214985,
+            "valid_pour_source_tilt_deg": 2.063014253221272,
+            "valid_pour_source_upright_tilt_deg": 3.0153312787764817,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.470348358154297e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.294155463993181,
+              -0.018374162574481722,
+              1.036670377214985
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2843030182761156,
+              0.0048839071120521105,
+              1.036670377214985
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2892292411346483,
+              -0.006745127731214806,
+              1.036670377214985
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.294155463993181,
+              0.0048839071120521105,
+              1.036670377214985
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02525882998381723,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023637445704866186,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04177406794956465,
+              -0.9986155033949194,
+              0.03196879144191989
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005420252811048288,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03831310395451606,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.294155463993181,
+              -0.018374162574481722,
+              1.036670377214985
+            ],
+            "held_grasp_finger_b": [
+              0.2843030182761156,
+              0.0048839071120521105,
+              1.036670377214985
+            ],
+            "held_grasp_midpoint": [
+              0.2892292411346483,
+              -0.006745127731214806,
+              1.036670377214985
+            ],
+            "held_grasp_object_position": [
+              0.294155463993181,
+              0.0048839071120521105,
+              1.036670377214985
+            ],
+            "held_grasp_finger_gap": 0.02525882998381723,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023637445704866186,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04177406794956465,
+              -0.9986155033949194,
+              0.03196879144191989
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005420252811048288,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03831310395451606,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24328159505934094,
+              -0.1456730989257325,
+              0.7611077722470468
+            ],
+            "target_position": [
+              0.25657648042797715,
+              -0.16554332098539506,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0239077330934047,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20921476384999102,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611077722470468,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08367582080688345,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857490404022971,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18582009904929567,
+            "release_required_pad_clearance": 0.05287452020114855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7883207482586899,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a27d51de0aaaae3891a3e1be69df8bf7b4792b8ffa8691729e88d2f9c31bbec",
+    "visual_seed": 196436184181196440,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c7aa67273b69e103ed807810fe0e109ac946409
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_66_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28159898944610795,
+              -0.16912415658345922,
+              1.0027731190590763
+            ],
+            "current_z": 1.0027731190590763,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.1416666110443101,
+            "gripper_z": 1.0036975298070976,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.277965343694453,
+              -0.17305607494138875,
+              1.0036975298070976
+            ],
+            "object_minus_gripper": [
+              0.0036336457516549237,
+              0.003931918357929526,
+              -0.0009244107480212982
+            ],
+            "object_to_gripper_xy": 0.005353817649298778,
+            "object_to_gripper_z": -0.0009244107480212982,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28159898944610795,
+              -0.19284555590811042,
+              1.0027731190590763
+            ],
+            "finger_b": [
+              0.27158126524923204,
+              -0.16912415658345922,
+              1.0027731190590763
+            ],
+            "finger_midpoint": [
+              0.27659012734766997,
+              -0.1809848562457848,
+              1.0027731190590763
+            ],
+            "object_minus_finger_midpoint": [
+              0.005008862098437983,
+              0.011860699662325586,
+              0.0
+            ],
+            "finger_gap": 0.025749943378660767,
+            "fingertip_max_gap": 0.09389726632927434,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012874971689330382,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0027731190590763,
+            "object_top_z": 1.0527574174981535,
+            "finger_top_clearance": 0.04998429843907726,
+            "fingertip_min_top_clearance": 0.014995289531723209,
+            "object_projection_between_fingers": 0.8486488989743158,
+            "object_to_finger_line_xy": 0.009228542078863136,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944863316463717,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.300800631139615,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
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+                "split_aloha",
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+                "wrist",
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+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.247045930901106,
+              -0.15876218703107137,
+              0.7611206235731919
+            ],
+            "target_position": [
+              0.2596925634027597,
+              -0.1727346469738028,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01884587356646326,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20603019913469875,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611206235731919,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07916823669498037,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595522005776358,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1815262856214062,
+            "release_required_pad_clearance": 0.052977610028881794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9891039031590829,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f9bf1507b7c7324199b0e532d162fb53aaab179d617880730884f165057b5ee",
+    "visual_seed": 7515448152152751136,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a4846a95c56ba9fb0228a9e42679f4643b5bd26
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_68_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              1.0
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+            "stable_success_frames": 162,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.87097889317877,
+            "source_upright_tilt_deg": 3.535003404748139,
+            "max_source_upright_tilt_deg": 89.86505398436873,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0875178107929564,
+            "source_upright_return_tilt_deg": 3.535003404748139,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 9.548668278736097e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a14c01a6c0a574ec7e1eb57309e61d3ade560ad1fc4eb555cd4546551b575093",
+    "visual_seed": 1161741774403382089,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fe05c287eb53f9da92dd33d824c8e16ac130aa0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_69_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.0023978634933357
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+              1.0036016203990414
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+              0.003877712679560774,
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+              -0.1639241297059019,
+              1.0023978634933357
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+              -0.17578976854117084,
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+              0.011865638835268949,
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+              1.0
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+            "stable_success_frames": 161,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "target": "beaker_a",
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              0.7701464494012564
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+              0.0066015318253594,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+              "tilt_axis_frame": "end_effector",
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2980933930202262,
+              -0.01296932717561363,
+              1.0365358750142883
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28803826601527516,
+              0.01049178182544358,
+              1.0365358750142883
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2930658295177507,
+              -0.0012387726750850252,
+              1.0365358750142883
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2980933930202262,
+              0.01049178182544358,
+              1.0365358750142883
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025525070316165306,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024158327450535314,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0763217970529865,
+              -0.997007519417236,
+              0.012287779298661313
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005909896689127705,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03840851170744128,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2980933930202262,
+              -0.01296932717561363,
+              1.0365358750142883
+            ],
+            "held_grasp_finger_b": [
+              0.28803826601527516,
+              0.01049178182544358,
+              1.0365358750142883
+            ],
+            "held_grasp_midpoint": [
+              0.2930658295177507,
+              -0.0012387726750850252,
+              1.0365358750142883
+            ],
+            "held_grasp_object_position": [
+              0.2980933930202262,
+              0.01049178182544358,
+              1.0365358750142883
+            ],
+            "held_grasp_finger_gap": 0.025525070316165306,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024158327450535314,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0763217970529865,
+              -0.997007519417236,
+              0.012287779298661313
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005909896689127705,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03840851170744128,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25851725333462383,
+              -0.16494355138803002,
+              0.761116358839968
+            ],
+            "target_position": [
+              0.2543579682733676,
+              -0.16691509271031343,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004602893373331639,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.218929939021422,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761116358839968,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577479447861989,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09016919373884376,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1895361566015415,
+            "release_required_pad_clearance": 0.05508459686942188,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.245574932650606,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc3817da0e15cd67978b62439e6351174709fad05b18475d3fdc82b1396ebf54",
+    "visual_seed": 6058400169914071127,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d477e658aa810125e09a8018bae7afa3bc0cc36
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_6_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28527232826004184,
+              -0.16981383040092202,
+              1.0014820638969164
+            ],
+            "current_z": 1.0014820638969164,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.14037561548679545,
+            "gripper_z": 1.0025148174372842,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28172470593581145,
+              -0.1737960572879361,
+              1.0025148174372842
+            ],
+            "object_minus_gripper": [
+              0.003547622324230393,
+              0.003982226887014079,
+              -0.0010327535403678034
+            ],
+            "object_to_gripper_xy": 0.005333268710184749,
+            "object_to_gripper_z": -0.0010327535403678034,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28527232826004184,
+              -0.193279123691303,
+              1.0014820638969164
+            ],
+            "finger_b": [
+              0.2749035957741649,
+              -0.16981383040092202,
+              1.0014820638969164
+            ],
+            "finger_midpoint": [
+              0.2800879620171034,
+              -0.18154647704611251,
+              1.0014820638969164
+            ],
+            "object_minus_finger_midpoint": [
+              0.005184366242938443,
+              0.011732646645190498,
+              0.0
+            ],
+            "finger_gap": 0.0256540562595329,
+            "fingertip_max_gap": 0.09373179085995034,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01282702812976644,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0014820638969164,
+            "object_top_z": 1.0514008035863651,
+            "finger_top_clearance": 0.04991873968944871,
+            "fingertip_min_top_clearance": 0.014975621906834645,
+            "object_projection_between_fingers": 0.8366424339723828,
+            "object_to_finger_line_xy": 0.00948408884619143,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04936589542997517,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3932366328713686,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
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+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26637490192404606,
+              -0.17007084192044516,
+              0.7611063760973008
+            ],
+            "target_position": [
+              0.26323572342480445,
+              -0.171836416344875,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0036016238973970616,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2172325544686067,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063760973008,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540299602275996,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852287493429111,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18856970989329627,
+            "release_required_pad_clearance": 0.05261437467145555,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2907399230327676,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "417575034c6c1bec90b166307db97ba47b390d1e51e49892433e92a0b8c725f4",
+    "visual_seed": 5143645593704356477,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25b5774217a9661e5ae1624d1287c352255b8cf3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_71_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.27870929048857274,
+              -0.16436489356905287,
+              1.0032735954530825
+            ],
+            "current_z": 1.0032735954530825,
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+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.14216714704296152,
+            "gripper_z": 1.0039584136055355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.1680819611117802,
+              1.0039584136055355
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+              0.003717067542727326,
+              -0.0006848181524530261
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+            "object_to_gripper_xy": 0.004820329319768281,
+            "object_to_gripper_z": -0.0006848181524530261,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27870929048857274,
+              -0.18751568024988507,
+              1.0032735954530825
+            ],
+            "finger_b": [
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+              -0.16436489356905287,
+              1.0032735954530825
+            ],
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+              0.27368518875355585,
+              -0.17594028690946897,
+              1.0032735954530825
+            ],
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+              0.011575393340416101,
+              0.0
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+            "object_to_finger_line_xy": 0.009217431483281269,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04930374381867893,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.131175581315045,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04488536235564209,
+              0.770146509005901
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+              0.007640372262754422,
+              1.0382819378280264
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+              0.00363590960789178,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0382819378280264,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.01607477442126,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 2.5207696665743535,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8328100900126103,
+            "max_source_tilt_deg": 89.77480895362932,
+            "source_upright_tilt_deg": 2.8810692929256576,
+            "max_source_upright_tilt_deg": 89.90136828094353,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8328100900126103,
+            "source_upright_return_tilt_deg": 2.8810692929256576,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.365778852490731e-08,
+            "max_target_xy_drift": 1.316562074949763e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3026,
+                0.0449,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0449,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
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+              ],
+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
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+                "tilt_strategy": "wrist_velocity",
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+                  0.0
+                ],
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+                "tilt_axis_frame": "end_effector",
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+                ],
+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.8810738571197843,
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.87567804773999,
+              "source_return_best_wrist_position": -1.6023527383804321,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6023527383804321
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3026,
+              0.0449,
+              0.7701
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0013,
+              -0.0004
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.021,
+              1.0349
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0603,
+              0.0904
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.001270533833453115,
+                -0.00041104801033695765
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.8810738571197843,
+            "pour_controller_source_return_step_error_deg": 1.8328016652033912,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.87567804773999,
+            "pour_controller_source_return_best_wrist_position": -1.6023527383804321,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6023527383804321,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03744362784734566,
+            "valid_pour_held_xy_dist": 0.03361648604314472,
+            "valid_pour_held_gripper_dist": 0.004860434381565807,
+            "valid_pour_required_height": 0.800146509005901,
+            "valid_pour_held_z": 1.0375708853218573,
+            "valid_pour_source_tilt_deg": 1.8328100900126103,
+            "valid_pour_source_upright_tilt_deg": 2.8810692929256576,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.365778852490731e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.30187383421930036,
+              -0.011774933951282391,
+              1.0375708853218573
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.29247138376971527,
+              0.011276281870646202,
+              1.0375708853218573
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2971726089945078,
+              -0.0002493260403180946,
+              1.0375708853218573
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.30187383421930036,
+              0.011276281870646202,
+              1.0375708853218573
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02489507231011861,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.0233698288989223,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.036984951398549945,
+              -0.998736027802761,
+              0.0340361592840549
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005139050478791011,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03838308479353909,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30187383421930036,
+              -0.011774933951282391,
+              1.0375708853218573
+            ],
+            "held_grasp_finger_b": [
+              0.29247138376971527,
+              0.011276281870646202,
+              1.0375708853218573
+            ],
+            "held_grasp_midpoint": [
+              0.2971726089945078,
+              -0.0002493260403180946,
+              1.0375708853218573
+            ],
+            "held_grasp_object_position": [
+              0.30187383421930036,
+              0.011276281870646202,
+              1.0375708853218573
+            ],
+            "held_grasp_finger_gap": 0.02489507231011861,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0233698288989223,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.036984951398549945,
+              -0.998736027802761,
+              0.0340361592840549
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005139050478791011,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03838308479353909,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23360952853190428,
+              -0.14213455059353883,
+              0.761106391951981
+            ],
+            "target_position": [
+              0.2560704164800048,
+              -0.16765256318858968,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.03399500631296161,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2016710653278861,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106391951981,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08673124640785809,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09030711075884217,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18134357772296578,
+            "release_required_pad_clearance": 0.055153555379421085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.399592899600762,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 179,
+            "max_placed_release_frames": 179
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82deb96c2bc93c05bb6f761fdabd3f45c7ec57badf4d5f34a1b3726105e832ae",
+    "visual_seed": 5696233225128364702,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e07f45771c403abd47ae6cc2c635b8a2532519b3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_72_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.0
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+          "failure_messages": {},
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.07149105934140115,
+              -0.9973421612342132,
+              0.014058515530203763
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005790014992445818,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038479954676676476,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3005447948788608,
+              -0.011690679055148319,
+              1.036522346217319
+            ],
+            "held_grasp_finger_b": [
+              0.2906061835932218,
+              0.011562236080145718,
+              1.036522346217319
+            ],
+            "held_grasp_midpoint": [
+              0.2955754892360413,
+              -6.422148750130034e-05,
+              1.036522346217319
+            ],
+            "held_grasp_object_position": [
+              0.3005447948788608,
+              0.011562236080145718,
+              1.036522346217319
+            ],
+            "held_grasp_finger_gap": 0.02528782427525582,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023901634485222638,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.07149105934140115,
+              -0.9973421612342132,
+              0.014058515530203763
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005790014992445818,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038479954676676476,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2542691781884463,
+              -0.16846397823938175,
+              0.7611063343651352
+            ],
+            "target_position": [
+              0.25449378754409685,
+              -0.17225999522196436,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0038026562156867868,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21685141807099323,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063343651352,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547992015522022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09103066298066224,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18883427342870163,
+            "release_required_pad_clearance": 0.055515331490331124,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.1748659961089425,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f86870277c7f68bacb1181afd410407c813ef41c6753c9138a9ada05c6d14592",
+    "visual_seed": 812588215129224825,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dad832b5814576f522e32ee93013bc4d6ac47f6b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_73_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2784783669997867,
+              -0.16941964038475862,
+              1.0025531527806764
+            ],
+            "current_z": 1.0025531527806764,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1414466447659104,
+            "gripper_z": 1.003556085650434,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2750388495394974,
+              -0.17328718921082398,
+              1.003556085650434
+            ],
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+              0.003439517460289254,
+              0.0038675488260653534,
+              -0.0010029328697576112
+            ],
+            "object_to_gripper_xy": 0.005175733211983992,
+            "object_to_gripper_z": -0.0010029328697576112,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2784783669997867,
+              -0.19291366711445637,
+              1.0025531527806764
+            ],
+            "finger_b": [
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+              -0.16941964038475862,
+              1.0025531527806764
+            ],
+            "finger_midpoint": [
+              0.2734209800088488,
+              -0.1811666537496075,
+              1.0025531527806764
+            ],
+            "object_minus_finger_midpoint": [
+              0.005057386990937884,
+              0.011747013364848874,
+              0.0
+            ],
+            "finger_gap": 0.02557885737636033,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0523999762900211,
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+            "fingertip_min_top_clearance": 0.014954047052803432,
+            "object_projection_between_fingers": 0.8436312066816798,
+            "object_to_finger_line_xy": 0.009290359096128407,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04940164987878473,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5596119998635354,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              -0.14527064050398986,
+              0.7611142249418613
+            ],
+            "target_position": [
+              0.2561073643534457,
+              -0.17346897016895524,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.03384604283899218,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20671826464207982,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611142249418613,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08960848990550338,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528087806813582,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18557857454939602,
+            "release_required_pad_clearance": 0.05264043903406791,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.33093795787777935,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 184,
+            "max_placed_release_frames": 184
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d03b726d1f07adda55c5af7c4f5700b8f433bbd5b32a4a11debda4029cfa283",
+    "visual_seed": 361839051767314204,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_75_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d80483bf79b14fb1d10d1048ced0c89fffa68846
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_75_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.27677137670666385,
+              -0.16404379810294434,
+              1.0022022431841275
+            ],
+            "current_z": 1.0022022431841275,
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+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14109573516936136,
+            "gripper_z": 1.0030058874342715,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27324830629780644,
+              -0.16788238108990033,
+              1.0030058874342715
+            ],
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+              0.0035230704088574094,
+              0.003838582986955996,
+              -0.0008036442501440089
+            ],
+            "object_to_gripper_xy": 0.005210253780144949,
+            "object_to_gripper_z": -0.0008036442501440089,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27677137670666385,
+              -0.1877515475338262,
+              1.0022022431841275
+            ],
+            "finger_b": [
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+              -0.16404379810294434,
+              1.0022022431841275
+            ],
+            "finger_midpoint": [
+              0.2718737418223003,
+              -0.17589767281838525,
+              1.0022022431841275
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011853874715440915,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.00905299403587887,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04923276227415756,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9814133110430734,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.043230577229194427,
+              0.7701463897966115
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+              0.006545344214753807,
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+              0.003829632007279522,
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+            "missing_held_position_samples": 0,
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+            "gripper_z": 1.037849060524348,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.04011021011054,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 3.7077907221107447,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9646667198711985,
+            "max_source_tilt_deg": 89.87723853834586,
+            "source_upright_tilt_deg": 4.034436390248819,
+            "max_source_upright_tilt_deg": 89.70442865382368,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9646667198711985,
+            "source_upright_return_tilt_deg": 4.034436390248819,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.686408848491962e-08,
+            "max_target_xy_drift": 1.6049041769309353e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2961,
+                0.0432,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0432,
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+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
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+              "source_return_effective_target_deg": 8.0,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6035842895507812
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0017,
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0338
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+            "pour_controller_controller_t": 0.0,
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                6.41421879946473e-05,
+                -0.0017309106521060911,
+                -0.001571446220087414
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 4.034443104828985,
+            "pour_controller_source_return_step_error_deg": 1.9646405836988103,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
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+            "pour_controller_source_return_best_wrist_position": -1.6035842895507812,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6035842895507812,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03687518126793721,
+            "valid_pour_held_xy_dist": 0.03285640503500906,
+            "valid_pour_held_gripper_dist": 0.00526467025289537,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0369867505949322,
+            "valid_pour_source_tilt_deg": 1.9646667198711985,
+            "valid_pour_source_upright_tilt_deg": 4.034436390248819,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.686408848491962e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2958404316858566,
+              -0.012790763523478537,
+              1.0369867505949322
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2860530630247638,
+              0.010374976222033329,
+              1.0369867505949322
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29094674735531023,
+              -0.001207893650722604,
+              1.0369867505949322
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2958404316858566,
+              0.010374976222033329,
+              1.0369867505949322
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025148440970861986,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02368914354992991,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05934276933829807,
+              -0.997521954528683,
+              0.03779399370981639
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005589157503674164,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03845648785601422,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2958404316858566,
+              -0.012790763523478537,
+              1.0369867505949322
+            ],
+            "held_grasp_finger_b": [
+              0.2860530630247638,
+              0.010374976222033329,
+              1.0369867505949322
+            ],
+            "held_grasp_midpoint": [
+              0.29094674735531023,
+              -0.001207893650722604,
+              1.0369867505949322
+            ],
+            "held_grasp_object_position": [
+              0.2958404316858566,
+              0.010374976222033329,
+              1.0369867505949322
+            ],
+            "held_grasp_finger_gap": 0.025148440970861986,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02368914354992991,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05934276933829807,
+              -0.997521954528683,
+              0.03779399370981639
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005589157503674164,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03845648785601422,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23500967115540095,
+              -0.13950305001088933,
+              0.7611064420567003
+            ],
+            "target_position": [
+              0.25507544538345683,
+              -0.16890926065015405,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.03560000729679865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20768213811662967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064420567003,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.09107614023507966,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659586376871421,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18663047239837566,
+            "release_required_pad_clearance": 0.05329793188435711,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.614426912201568,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 183,
+            "max_placed_release_frames": 183
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51c89c8dac98524d308d9f35719bffe15838b6a481124d068b50ca33170becb9",
+    "visual_seed": 4689723303289437009,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82d5b6e4bf6248ca01d400c8751d88616621d828
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_79_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
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+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3017662315044336,
+              -0.016534024788676494,
+              1.0365279305389925
+            ],
+            "held_grasp_finger_b": [
+              0.2916730131152995,
+              0.006747155785754704,
+              1.0365279305389925
+            ],
+            "held_grasp_midpoint": [
+              0.29671962230986654,
+              -0.004893434501460895,
+              1.0365279305389925
+            ],
+            "held_grasp_object_position": [
+              0.3017662315044336,
+              0.006747155785754704,
+              1.0365279305389925
+            ],
+            "held_grasp_finger_gap": 0.025374917268634153,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02379367213006389,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.055928863225737646,
+              -0.9977659777606892,
+              0.0365378691432947
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0057052446456641,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038387916235856495,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26138624444554626,
+              -0.16585844396669627,
+              0.7611064924469112
+            ],
+            "target_position": [
+              0.25864162275764324,
+              -0.16828570173212432,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0036639498453906716,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2175780240612157,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064924469112,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521237511073757,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08714459031513604,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18941471807152788,
+            "release_required_pad_clearance": 0.05357229515756802,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.155490078277324,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 195,
+            "max_placed_release_frames": 195
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7e70f809b3abae71d9502cb74f8e44cc94f2e4bf2f66b8ef5e0ee452fe28bdb",
+    "visual_seed": 3552598480017415385,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..435af48d5c69e9261f406a2f96464698d89da3e5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_7_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.27537740422311396,
+              -0.1635988938546153,
+              1.0015476333802509
+            ],
+            "current_z": 1.0015476333802509,
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+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1404411849701298,
+            "gripper_z": 1.0032727399754404,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2716934598289993,
+              -0.16748924092077128,
+              1.0032727399754404
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+              0.003890347066155986,
+              -0.0017251065951895406
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+            "object_to_gripper_xy": 0.005357821067754826,
+            "object_to_gripper_z": -0.0017251065951895406,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27537740422311396,
+              -0.18742851946965824,
+              1.0015476333802509
+            ],
+            "finger_b": [
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+              -0.1635988938546153,
+              1.0015476333802509
+            ],
+            "finger_midpoint": [
+              0.2704626354764031,
+              -0.17551370666213678,
+              1.0015476333802509
+            ],
+            "object_minus_finger_midpoint": [
+              0.004914768746710874,
+              0.011914812807521491,
+              0.0
+            ],
+            "finger_gap": 0.025777332373379817,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0517179073185638,
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+            "fingertip_min_top_clearance": 0.01505108218149389,
+            "object_projection_between_fingers": 0.854591356028591,
+            "object_to_finger_line_xy": 0.009086828498947413,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0494232839681327,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2410998107930924,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
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+            "release_fingertip_min_gap": 0.09030456786759823,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18360948441308236,
+            "release_required_pad_clearance": 0.05515228393379912,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.397272313766688,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d16427ffb64409a01c15fa8869ed2979d4548246edd923193737ed4c484500c",
+    "visual_seed": 8070342033651251759,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f96d57d707e65b4525771972f2f92421ce548997
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_80_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28431810012954545,
+              -0.16535508089809808,
+              1.0008631451082972
+            ],
+            "current_z": 1.0008631451082972,
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+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.13975663709353137,
+            "gripper_z": 1.0025142624851793,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2808474681666622,
+              -0.16934814080596639,
+              1.0025142624851793
+            ],
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+              0.003470631962883275,
+              0.0039930599078683016,
+              -0.0016511173768820608
+            ],
+            "object_to_gripper_xy": 0.005290540014933468,
+            "object_to_gripper_z": -0.0016511173768820608,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28431810012954545,
+              -0.1887591398937649,
+              1.0008631451082972
+            ],
+            "finger_b": [
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+              -0.16535508089809808,
+              1.0008631451082972
+            ],
+            "finger_midpoint": [
+              0.279125249451259,
+              -0.17705711039593147,
+              1.0008631451082972
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011702029497833388,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009492996314285271,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049424172235352865,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.712367604789683,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3017063251740161,
+              0.035677852897577064,
+              0.7701465090059015
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+            "gripper_position": [
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+              -0.0010602445982381276,
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+            "held_minus_gripper": [
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+              0.0039054040238500082,
+              -0.0016923665999195592
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+            "max_held_gripper_dist": 0.005600443435798269,
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+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0376233057694262,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.04511673877215,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.7326363817293,
+            "source_upright_tilt_deg": 3.7975619970063033,
+            "max_source_upright_tilt_deg": 89.83224151483839,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0438367608709034,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.332993507385254e-08,
+            "max_target_xy_drift": 1.739355553676002e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0357,
+                0.7701
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+              "controller_target_position": [
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+                0.0357,
+                0.7701
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+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.604203462600708
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3017,
+              0.0357,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
+              0.3017,
+              0.0357,
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0014,
+              -0.0015,
+              0.0017
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3003,
+              0.009,
+              1.0371
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0014013857364842336,
+                -0.001454046936208693,
+                0.0017439760252873841
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.7975629953804697,
+            "pour_controller_source_return_step_error_deg": 2.0438250350357716,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.7925041323917363,
+            "pour_controller_source_return_best_wrist_position": -1.604203462600708,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.604203462600708,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.036962418560305646,
+            "valid_pour_held_xy_dist": 0.03283709376707719,
+            "valid_pour_held_gripper_dist": 0.005528688384893023,
+            "valid_pour_required_height": 0.8001465090059016,
+            "valid_pour_held_z": 1.0359309391695066,
+            "valid_pour_source_tilt_deg": 2.0438367608709034,
+            "valid_pour_source_upright_tilt_deg": 3.7975619970063033,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.332993507385254e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3011687691827051,
+              -0.020190535721816727,
+              1.0359309391695066
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.29115488135342693,
+              0.0028451594256118807,
+              1.0359309391695066
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.296161825268066,
+              -0.008672688148102424,
+              1.0359309391695066
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3011687691827051,
+              0.0028451594256118807,
+              1.0359309391695066
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025118144843571364,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023567415626383176,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.058149248320572305,
+              -0.9978042958651444,
+              0.03170571041335846
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005679679939859621,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038518842306942525,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3011687691827051,
+              -0.020190535721816727,
+              1.0359309391695066
+            ],
+            "held_grasp_finger_b": [
+              0.29115488135342693,
+              0.0028451594256118807,
+              1.0359309391695066
+            ],
+            "held_grasp_midpoint": [
+              0.296161825268066,
+              -0.008672688148102424,
+              1.0359309391695066
+            ],
+            "held_grasp_object_position": [
+              0.3011687691827051,
+              0.0028451594256118807,
+              1.0359309391695066
+            ],
+            "held_grasp_finger_gap": 0.025118144843571364,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023567415626383176,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.058149248320572305,
+              -0.9978042958651444,
+              0.03170571041335846
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005679679939859621,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038518842306942525,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24007851712207115,
+              -0.1366541612926817,
+              0.7611066975554784
+            ],
+            "target_position": [
+              0.26236623509738904,
+              -0.16722588277784448,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.03783348420531304,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20325982789598743,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066975554784,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0905363787461439,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08790868458240857,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18390750869432215,
+            "release_required_pad_clearance": 0.053954342291204285,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.917420561083826,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 178,
+            "max_placed_release_frames": 178
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d0ea9edd380514b414433c74ddd065ebf4f1b2a1c6a65174fa76acdee57cde3",
+    "visual_seed": 6756262759387636148,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a107e3c7cc95b0334bdb051236593d2aa04cab5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_82_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.281941817813203,
+              -0.16731747959834026,
+              1.0022552354320844
+            ],
+            "current_z": 1.0022552354320844,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14114878702196332,
+            "gripper_z": 1.003163733900543,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2785189413679551,
+              -0.17117695802915467,
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+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023333812717010623,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.022113067303036665,
+              -0.999184816383092,
+              0.03377447207490236
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005166320222943656,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03826992159821507,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24928187287953243,
+              -0.15457079216514388,
+              0.761106390963901
+            ],
+            "target_position": [
+              0.259994902706381,
+              -0.16897617331302564,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01795227044378214,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21100402772812177,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106390963901,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08042071401860233,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600925443829004,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18560747911992276,
+            "release_required_pad_clearance": 0.05300462721914502,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.042290813592054,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "370a1fe27c746c70c0c17961067188f6d26e2b7e17101a215075dd86a62ebb1d",
+    "visual_seed": 6457757395720180828,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d8d8ca3140d58481f62177eed006f597f60f617
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_83_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2780126934013833,
+              -0.16885415168386086,
+              1.0004529367666763
+            ],
+            "current_z": 1.0004529367666763,
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+            "lift_margin": 0.13934648835655494,
+            "gripper_z": 1.0022571546405667,
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+            "gripper_position": [
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+              -0.17280777211780413,
+              1.0022571546405667
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+              0.003953620433943261,
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+              0.2780126934013833,
+              -0.19242727845437665,
+              1.0004529367666763
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+            "finger_b": [
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+              -0.16885415168386086,
+              1.0004529367666763
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+            "finger_midpoint": [
+              0.27288701303847085,
+              -0.18064071506911877,
+              1.0004529367666763
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011786563385257909,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.009400898736440242,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0494620987770408,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.503896683583271,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.299523573280019,
+              0.039875357268981705,
+              0.7701463897966119
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+            "gripper_position": [
+              0.2945513807897676,
+              0.0034111664259354885,
+              1.0382694859758435
+            ],
+            "target_minus_gripper": [
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+              0.03646419084304622,
+              -0.2681230961792316
+            ],
+            "held_position": [
+              0.298182021454209,
+              0.007279765606293249,
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69930826aedd522644d81c18e40a7b8d8a6b04876914e9af506fbb49b9f316c3",
+    "visual_seed": 965841512755456908,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..789208c39001dd138aac71d41421cab18784c1ee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_84_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.27664389191198474,
+              -0.16197149576141134,
+              1.001337572582285
+            ],
+            "current_z": 1.001337572582285,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1402310645675191,
+            "gripper_z": 1.0026008155051207,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27319444845723084,
+              -0.1659091330115279,
+              1.0026008155051207
+            ],
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+              0.00393763725011656,
+              -0.001263242922835639
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+            "object_to_gripper_xy": 0.005234849306431849,
+            "object_to_gripper_z": -0.001263242922835639,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.27664389191198474,
+              -0.1853243938089384,
+              1.001337572582285
+            ],
+            "finger_b": [
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+              -0.16197149576141134,
+              1.001337572582285
+            ],
+            "finger_midpoint": [
+              0.27143666283680257,
+              -0.17364794478517487,
+              1.001337572582285
+            ],
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+              0.011676449023763524,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015014870472207053,
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+            "object_to_finger_line_xy": 0.009511494586912179,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049521762479103365,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3475289326966893,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.03773135211937882,
+              0.7701463897966117
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+            "gripper_position": [
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+              0.0011961105298929492,
+              1.0382228902287978
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+              0.005050950617673657,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.003854840087780708,
+              -0.001273166572275164
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "gripper_z": 1.0382228902287978,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.11843881951225,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.0296791384789867,
+            "max_source_tilt_deg": 89.93166613381466,
+            "source_upright_tilt_deg": 3.452351646579467,
+            "max_source_upright_tilt_deg": 89.93395636409957,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0296791384789867,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.2351741790771484e-08,
+            "max_target_xy_drift": 1.1691715439018022e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0377,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0377,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6017247438430786
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
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+              0.3,
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+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                -0.00020570819144297625,
+                -0.001652948993347541,
+                0.000870284036066839
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.452348539280549,
+            "pour_controller_source_return_step_error_deg": 2.0296880144320424,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.449331194843335,
+            "pour_controller_source_return_best_wrist_position": -1.6017247438430786,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6017247438430786,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.036818953241168025,
+            "valid_pour_held_xy_dist": 0.03269706018684988,
+            "valid_pour_held_gripper_dist": 0.005372110075895222,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0369497236565226,
+            "valid_pour_source_tilt_deg": 2.0296791384789867,
+            "valid_pour_source_upright_tilt_deg": 3.452351646579467,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.2351741790771484e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2942788285382881,
+              -0.018001667383793264,
+              1.0369497236565226
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28435884427509694,
+              0.005050950617673657,
+              1.0369497236565226
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.28931883640669254,
+              -0.006475358383059803,
+              1.0369497236565226
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2942788285382881,
+              0.005050950617673657,
+              1.0369497236565226
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025096399831519987,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023487141078960914,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.04802005874767096,
+              -0.9981852321676542,
+              0.036336156102108164
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005523336657627833,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038453037757709016,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2942788285382881,
+              -0.018001667383793264,
+              1.0369497236565226
+            ],
+            "held_grasp_finger_b": [
+              0.28435884427509694,
+              0.005050950617673657,
+              1.0369497236565226
+            ],
+            "held_grasp_midpoint": [
+              0.28931883640669254,
+              -0.006475358383059803,
+              1.0369497236565226
+            ],
+            "held_grasp_object_position": [
+              0.2942788285382881,
+              0.005050950617673657,
+              1.0369497236565226
+            ],
+            "held_grasp_finger_gap": 0.025096399831519987,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023487141078960914,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.04802005874767096,
+              -0.9981852321676542,
+              0.036336156102108164
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005523336657627833,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038453037757709016,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23900761535374804,
+              -0.14541598308534834,
+              0.761106394627789
+            ],
+            "target_position": [
+              0.2537873102520232,
+              -0.1649876417306141,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02452527682642761,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20648362286260075,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106394627789,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0826356042149776,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528587927383012,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1837236779118072,
+            "release_required_pad_clearance": 0.05264293963691506,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3449168597496087,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8eabfe438d4f1d58ebb08bc8caa474dd50f40b31ded6fe9c010cc1b78cb1cf01",
+    "visual_seed": 414638762425264234,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..389e314d15bd6948e40958ed74bbd4cb04e9a143
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_85_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27704098467374555,
+              -0.16655289466891846,
+              1.0028711331389137
+            ],
+            "current_z": 1.0028711331389137,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14176468472879256,
+            "gripper_z": 1.0036641807385964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27340704280516676,
+              -0.1704314157166561,
+              1.0036641807385964
+            ],
+            "object_minus_gripper": [
+              0.003633941868578794,
+              0.003878521047737643,
+              -0.0007930475996826836
+            ],
+            "object_to_gripper_xy": 0.005314927941369839,
+            "object_to_gripper_z": -0.0007930475996826836,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27704098467374555,
+              -0.1903513197049461,
+              1.0028711331389137
+            ],
+            "finger_b": [
+              0.26720552809264386,
+              -0.16655289466891846,
+              1.0028711331389137
+            ],
+            "finger_midpoint": [
+              0.2721232563831947,
+              -0.17845210718693227,
+              1.0028711331389137
+            ],
+            "object_minus_finger_midpoint": [
+              0.004917728290550871,
+              0.011899212518013819,
+              0.0
+            ],
+            "finger_gap": 0.025750752228899325,
+            "fingertip_max_gap": 0.09356484708625826,
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+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2430973556957462,
+              -0.1546896471548903,
+              0.7611064004580146
+            ],
+            "target_position": [
+              0.2551566901421465,
+              -0.17069025984510217,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.020036146180149143,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20940453450338387,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064004580146,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0818259197079925,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.088681528421524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18453354009663228,
+            "release_required_pad_clearance": 0.054340764210762005,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.703846572579657,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "abff08a4761840d039fd60283a0245c9635e7255a449450d61a7985952a97356",
+    "visual_seed": 997224332171488638,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a9f8dd2628f7426c721f577c67b965a51e5eaf3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_86_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+              1.0039037470672796
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+              -0.1782501365358708,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04440952357523895,
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+              0.0038974121991114385,
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+            "xy_threshold": 0.15,
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+            "required_height": 0.8001463897966116,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 119.98147986627515,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea93b6e69059fa61cba2037e1f2f2418920db1e9e4450f8dd99e360841844ea8",
+    "visual_seed": 4109134539982246167,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d84131b18b1257e39e439a4fb866ac9269a4146f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_87_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28260495415859466,
+              -0.1692042675708709,
+              1.0043152211940662
+            ],
+            "current_z": 1.0043152211940662,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14320871317930006,
+            "gripper_z": 1.0054913877065308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27942727687942237,
+              -0.17283383388982815,
+              1.0054913877065308
+            ],
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+              0.0031776772791722863,
+              0.0036295663189572502,
+              -0.0011761665124645493
+            ],
+            "object_to_gripper_xy": 0.0048240423458212585,
+            "object_to_gripper_z": -0.0011761665124645493,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28260495415859466,
+              -0.19266228256217155,
+              1.0043152211940662
+            ],
+            "finger_b": [
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+              -0.1692042675708709,
+              1.0043152211940662
+            ],
+            "finger_midpoint": [
+              0.27787251938471247,
+              -0.18093327506652124,
+              1.0043152211940662
+            ],
+            "object_minus_finger_midpoint": [
+              0.004732434773882188,
+              0.01172900749565034,
+              0.0
+            ],
+            "finger_gap": 0.025295498075513012,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.015023504089163907,
+            "object_projection_between_fingers": 0.859995242176006,
+            "object_to_finger_line_xy": 0.008777334649800444,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049569388350886506,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.6355094893262567,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.29845006382529177,
+              0.03627417874210334,
+              0.7701465090059011
+            ],
+            "gripper_position": [
+              0.29503963486209267,
+              -0.0004085670587232193,
+              1.0379436643628324
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+            "held_minus_target": [
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+              0.0036364232039974055,
+              -0.0012250261928985484
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "gripper_z": 1.0379436643628324,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.03396303985753,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 4.288026441063226,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 0.7673062116359269,
+            "max_source_tilt_deg": 89.65471707803056,
+            "source_upright_tilt_deg": 4.226627329351182,
+            "max_source_upright_tilt_deg": 89.72200238920136,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.7673062116359269,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.0669426131007984e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.2985,
+                0.0363,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0363,
+                0.7701
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+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.580057144165039
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+              -0.0016
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.0114,
+              1.0338
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.224610123945895,
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+            "pour_controller_wrist_compensated_return_position": -1.580057144165039,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.03684094006945379,
+            "valid_pour_held_xy_dist": 0.03304737868138675,
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+            "valid_pour_required_height": 0.8001465090059011,
+            "valid_pour_held_z": 1.0367186381699338,
+            "valid_pour_source_tilt_deg": 0.7673062116359269,
+            "valid_pour_source_upright_tilt_deg": 4.226627329351182,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.0669426131007984e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.29818586591221596,
+              -0.019961773818186247,
+              1.0367186381699338
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2885265876243803,
+              0.003227856145274186,
+              1.0367186381699338
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29335622676829815,
+              -0.00836695883645603,
+              1.0367186381699338
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.29818586591221596,
+              0.003227856145274186,
+              1.0367186381699338
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02512091946732991,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023828038182998793,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.07262201042563507,
+              -0.9972803365519706,
+              0.01256876797969686
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005660744722953074,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038507707187118975,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29818586591221596,
+              -0.019961773818186247,
+              1.0367186381699338
+            ],
+            "held_grasp_finger_b": [
+              0.2885265876243803,
+              0.003227856145274186,
+              1.0367186381699338
+            ],
+            "held_grasp_midpoint": [
+              0.29335622676829815,
+              -0.00836695883645603,
+              1.0367186381699338
+            ],
+            "held_grasp_object_position": [
+              0.29818586591221596,
+              0.003227856145274186,
+              1.0367186381699338
+            ],
+            "held_grasp_finger_gap": 0.02512091946732991,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023828038182998793,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.07262201042563507,
+              -0.9972803365519706,
+              0.01256876797969686
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005660744722953074,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038507707187118975,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24215834627071942,
+              -0.15695264690614488,
+              0.7611088539629166
+            ],
+            "target_position": [
+              0.2615084822433317,
+              -0.17131823806495014,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02409975044477695,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.205465501426611,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611088539629166,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07885999648336173,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09352428647370238,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1820839456489533,
+            "release_required_pad_clearance": 0.05676214323685119,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.963226399072624,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 193,
+            "max_placed_release_frames": 193
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e8e181693a7ab6d13de5819ceeac9f25a85e53c9f2159edbfd48c45bef481829",
+    "visual_seed": 5290819465103698709,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb801da0504e07275b965b46be53224061b55440
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_88_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.281280319335846,
+              -0.16175729082423698,
+              1.0018904712714591
+            ],
+            "current_z": 1.0018904712714591,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1407839036520483,
+            "gripper_z": 1.0031127949725787,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2780423211659523,
+              -0.16557595272911324,
+              1.0031127949725787
+            ],
+            "object_minus_gripper": [
+              0.00323799816989373,
+              0.0038186619048762582,
+              -0.001222323701119521
+            ],
+            "object_to_gripper_xy": 0.005006676631458069,
+            "object_to_gripper_z": -0.001222323701119521,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.281280319335846,
+              -0.1849611395509924,
+              1.0018904712714591
+            ],
+            "finger_b": [
+              0.2710622711752141,
+              -0.16175729082423698,
+              1.0018904712714591
+            ],
+            "finger_midpoint": [
+              0.2761712952555301,
+              -0.17335921518761468,
+              1.0018904712714591
+            ],
+            "object_minus_finger_midpoint": [
+              0.005109024080315938,
+              0.011601924363377702,
+              0.0
+            ],
+            "finger_gap": 0.02535403525964145,
+            "fingertip_max_gap": 0.09375256042260446,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012677017629820715,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0018904712714591,
+            "object_top_z": 1.051715581264055,
+            "finger_top_clearance": 0.04982510999259593,
+            "fingertip_min_top_clearance": 0.014947532997778762,
+            "object_projection_between_fingers": 0.8375791755327435,
+            "object_to_finger_line_xy": 0.009351491444023391,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049376280211302234,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5825302756173802,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2449402681104326,
+              -0.1481563153836937,
+              0.761106447644051
+            ],
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+              0.2591430424097177,
+              -0.1658944277033942,
+              0.7774145980897915
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+            "gripper_dist": 0.20888058726205702,
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+            "gripper_away_ok": true,
+            "object_z": 0.761106447644051,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_fingertip_min_gap": 0.08715462447936011,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.184648492680396,
+            "release_required_pad_clearance": 0.053577312239680056,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1652724523781752,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2eec31d2590128f4020aadee0cba8230f66bbe6b1ada6193566e300624a9f9f6",
+    "visual_seed": 8836043328138179212,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c79f1f7d502e97c23c782b97b96d2b7338fc2ff
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_89_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+            "required_stable_lift_frames": 5
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+            },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "max_source_tilt_deg": 89.86564430028567,
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+            "max_source_upright_tilt_deg": 89.92665807013395,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+                "fr3_leftfinger",
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+                "geometry",
+                "gripper",
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+                "joint1",
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+                "left_inner_finger",
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17a7790545451dcb00c12e26eb7c8dc719d221ee721e25c7c1be30e61bbe386b",
+    "visual_seed": 3235465865660235780,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..300260ecb1299a995bf2e96116b9f8bb8195acdf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_8_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              1.0027522956897341
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+            "lift_margin": 0.1416459068842575,
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+            "gripper_position": [
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+              -0.1741365298278827,
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+              0.0037442524876977745,
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+            "object_to_gripper_z": -0.001242237825666903,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.283877450513882,
+              -0.19364790433023124,
+              1.0027522956897341
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+            "finger_b": [
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+              -0.17039227734018492,
+              1.0027522956897341
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+            "finger_midpoint": [
+              0.2788962819720871,
+              -0.1820200908352081,
+              1.0027522956897341
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+              0.011627813495023176,
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+            "object_to_finger_line_xy": 0.009157454150370344,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.04368111011260011,
+              0.7701465090059014
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+              0.007120920743562589,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.94188014024644,
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+            "max_source_upright_tilt_deg": 89.94227898933107,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_xy_drift": 1.0745380149674383e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "pour_pose_offset": [
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+              "wrist_joint_name": "wrist_3_joint",
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+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+              "source_pose_feedback": true,
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+              "pour_height_range_m": [
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 4.311795274674463,
+            "pour_controller_source_return_step_error_deg": 2.0662457326313852,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.307806065992313,
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+            "pour_controller_wrist_compensated_return_position": -1.6057796478271484,
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.036676685348650324,
+            "valid_pour_held_xy_dist": 0.032883007143456426,
+            "valid_pour_held_gripper_dist": 0.005053916690760353,
+            "valid_pour_required_height": 0.8001465090059015,
+            "valid_pour_held_z": 1.0367339861132878,
+            "valid_pour_source_tilt_deg": 2.0662355096512335,
+            "valid_pour_source_upright_tilt_deg": 4.311788444601587,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.0745380149674383e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2950849118606779,
+              -0.012050515604786424,
+              1.0367339861132878
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28544972334513274,
+              0.010799457628566064,
+              1.0367339861132878
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.29026731760290536,
+              -0.0006255289881101798,
+              1.0367339861132878
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2950849118606779,
+              0.010799457628566064,
+              1.0367339861132878
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.024798349430859682,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023435227724465282,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0674534694023075,
+              -0.9971696946011475,
+              0.03320586747318021
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005589797741487916,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03865256310158121,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2950849118606779,
+              -0.012050515604786424,
+              1.0367339861132878
+            ],
+            "held_grasp_finger_b": [
+              0.28544972334513274,
+              0.010799457628566064,
+              1.0367339861132878
+            ],
+            "held_grasp_midpoint": [
+              0.29026731760290536,
+              -0.0006255289881101798,
+              1.0367339861132878
+            ],
+            "held_grasp_object_position": [
+              0.2950849118606779,
+              0.010799457628566064,
+              1.0367339861132878
+            ],
+            "held_grasp_finger_gap": 0.024798349430859682,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023435227724465282,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0674534694023075,
+              -0.9971696946011475,
+              0.03320586747318021
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005589797741487916,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03865256310158121,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24159978663107762,
+              -0.1409183293538901,
+              0.7611068747405948
+            ],
+            "target_position": [
+              0.26232155683992747,
+              -0.17252088243951327,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.03779038399008415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.204941600063046,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611068747405948,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.09150531100463684,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09156404991032806,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18540351428193605,
+            "release_required_pad_clearance": 0.05578202495516403,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.757394251204662,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 175,
+            "max_placed_release_frames": 175
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17e0ee8ce869c4b23d7b74d1cecd9749fecf581f400a01ad7d5c17782d4a20f5",
+    "visual_seed": 3270064732310972035,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97dc7cd0426ecac14a63b5e12835f297f670b857
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_91_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27606235666895906,
+              -0.16282204598303798,
+              1.0045454857059521
+            ],
+            "current_z": 1.0045454857059521,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14343903729583085,
+            "gripper_z": 1.0058476452772633,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2724203542011312,
+              -0.16680431957206548,
+              1.0058476452772633
+            ],
+            "object_minus_gripper": [
+              0.003642002467827865,
+              0.003982273589027502,
+              -0.00130215957131119
+            ],
+            "object_to_gripper_xy": 0.005396543793348687,
+            "object_to_gripper_z": -0.00130215957131119,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27606235666895906,
+              -0.18643691325147907,
+              1.0045454857059521
+            ],
+            "finger_b": [
+              0.2657823904525022,
+              -0.16282204598303798,
+              1.0045454857059521
+            ],
+            "finger_midpoint": [
+              0.2709223735607306,
+              -0.17462947961725853,
+              1.0045454857059521
+            ],
+            "object_minus_finger_midpoint": [
+              0.005139983108228441,
+              0.011807433634220543,
+              0.0
+            ],
+            "finger_gap": 0.025755381214759468,
+            "fingertip_max_gap": 0.09335516843862907,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012877690607379734,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0045454857059521,
+            "object_top_z": 1.0543522704682244,
+            "finger_top_clearance": 0.049806784762272294,
+            "fingertip_min_top_clearance": 0.014942035428681721,
+            "object_projection_between_fingers": 0.8406883960929973,
+            "object_to_finger_line_xy": 0.009425604525184459,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049177584219314535,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.265884846205352,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 162,
+            "max_stable_success_frames": 162,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "joint1",
+                "joint2",
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+                "mobile_translate_y",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "ridgebase",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
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+              -0.1653377279451414,
+              0.7611063831966934
+            ],
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+              -0.1681845489903028,
+              0.7774145980897915
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540004301706958,
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+            "release_fingertip_min_gap": 0.08614867494938568,
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1915529852100027,
+            "release_required_pad_clearance": 0.05307433747469284,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1776776959571116,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 196,
+            "max_placed_release_frames": 196
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52f71383d05fa29f14158ec0722ae6a8c37ba5f41083d6a236f02760b70c6da6",
+    "visual_seed": 4828705673230871461,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e338c8c8d921b64e25c3f25362b707e6a9d5981
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_92_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "max_source_upright_tilt_deg": 89.86898332754862,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 3.725290298461914e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "408a028a93a7be148baa193b3b347630a8323b799338394179b167322e86bca9",
+    "visual_seed": 51126936946548747,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..693b34991ab2c4f32f7e7b4e3b49e1feb39b5520
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_93_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+          }
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "max_valid_pour_pose_frames": 219,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2957597694684433,
+              -0.02052122478528245,
+              1.0359447212995212
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.28578082577131436,
+              0.002706164982497464,
+              1.0359447212995212
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2907702976198788,
+              -0.008907529901392493,
+              1.0359447212995212
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2957597694684433,
+              0.002706164982497464,
+              1.0359447212995212
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.025280248272808486,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.0236963773687668,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.05096058594598932,
+              -0.99829747477714,
+              0.028375527019368622
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005584348038407577,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03838059420363939,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2957597694684433,
+              -0.02052122478528245,
+              1.0359447212995212
+            ],
+            "held_grasp_finger_b": [
+              0.28578082577131436,
+              0.002706164982497464,
+              1.0359447212995212
+            ],
+            "held_grasp_midpoint": [
+              0.2907702976198788,
+              -0.008907529901392493,
+              1.0359447212995212
+            ],
+            "held_grasp_object_position": [
+              0.2957597694684433,
+              0.002706164982497464,
+              1.0359447212995212
+            ],
+            "held_grasp_finger_gap": 0.025280248272808486,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0236963773687668,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05096058594598932,
+              -0.99829747477714,
+              0.028375527019368622
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005584348038407577,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03838059420363939,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23232856946098823,
+              -0.15537273910925806,
+              0.7611063976066337
+            ],
+            "target_position": [
+              0.2552558167312758,
+              -0.17080610924152004,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.027637792622282706,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20364659962307197,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063976066337,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08068928687611686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.087582543334936,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18011425778520235,
+            "release_required_pad_clearance": 0.053791271667468,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.591768409297615,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 188,
+            "max_placed_release_frames": 188
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82fbc5f5c6ca5282646ea39d0b84fdebc0240e01659e3c097b07f42f3748d177",
+    "visual_seed": 6836752399060900600,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc5c60b4b1013ba3e0127584871f9523ce082da8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_94_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.27661055906933285,
+              -0.1649492524180668,
+              1.0050683713070798
+            ],
+            "current_z": 1.0050683713070798,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14396192289695864,
+            "gripper_z": 1.0059117973038945,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2733947008128228,
+              -0.1687638588822882,
+              1.0059117973038945
+            ],
+            "object_minus_gripper": [
+              0.0032158582565100513,
+              0.0038146064642214095,
+              -0.0008434259968146396
+            ],
+            "object_to_gripper_xy": 0.00498928519958958,
+            "object_to_gripper_z": -0.0008434259968146396,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27661055906933285,
+              -0.18815700146984835,
+              1.0050683713070798
+            ],
+            "finger_b": [
+              0.26638059024410254,
+              -0.1649492524180668,
+              1.0050683713070798
+            ],
+            "finger_midpoint": [
+              0.2714955746567177,
+              -0.17655312694395758,
+              1.0050683713070798
+            ],
+            "object_minus_finger_midpoint": [
+              0.005114984412615153,
+              0.01160387452589079,
+              0.0
+            ],
+            "finger_gap": 0.02536241073351765,
+            "fingertip_max_gap": 0.09352670582152778,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01268120536675884,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0050683713070798,
+            "object_top_z": 1.0548693314658024,
+            "finger_top_clearance": 0.049800960158722596,
+            "fingertip_min_top_clearance": 0.01494028804761676,
+            "object_projection_between_fingers": 0.8373074907212333,
+            "object_to_finger_line_xy": 0.00936088259897701,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926335291076389,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.540406548686749,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23820482663720033,
+              -0.14952646291421207,
+              0.761106399059938
+            ],
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+              0.25352299767145325,
+              -0.16949841125459816,
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+            "xy_dist": 0.0251699242022235,
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+            "gripper_dist": 0.20523081455697126,
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+            "object_z": 0.761106399059938,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
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+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
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+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3498536306048827,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 190,
+            "max_placed_release_frames": 190
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fbcfe53a5f015aa7dba44308768aa5e39ebdc3e5e5998e9a56f9802a8801803",
+    "visual_seed": 36267110454978819,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9837475afd3c679c45cb77fd29136620ebafa226
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_95_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.003535605051171
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+              1.0
+            ],
+            "stable_success_frames": 162,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+            },
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+          }
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 8.429369702178807e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35a1e22d22d6c20d4216162585a091c15d5492ec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_96_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.0037652736733285
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+              -0.16206217438571768,
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+              -0.17385713085966542,
+              1.0037652736733285
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+              0.011794956473947737,
+              0.0
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+              0.0,
+              1.0
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_grasp_finger_gap": 0.02544592892567093,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024027002614881797,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0750111772599305,
+              -0.9971148944867203,
+              0.011628004077056775
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059386726790073546,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03846831727905042,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29355170494916916,
+              -0.0153421136769652,
+              1.0362622079786892
+            ],
+            "held_grasp_finger_b": [
+              0.28339897112715157,
+              0.007990637871653248,
+              1.0362622079786892
+            ],
+            "held_grasp_midpoint": [
+              0.2884753380381604,
+              -0.003675737902655976,
+              1.0362622079786892
+            ],
+            "held_grasp_object_position": [
+              0.29355170494916916,
+              0.007990637871653248,
+              1.0362622079786892
+            ],
+            "held_grasp_finger_gap": 0.02544592892567093,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024027002614881797,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0750111772599305,
+              -0.9971148944867203,
+              0.011628004077056775
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0059386726790073546,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03846831727905042,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2431999219033247,
+              -0.14322016381780817,
+              0.7611203757737132
+            ],
+            "target_position": [
+              0.25842923438950377,
+              -0.1668042965384583,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02807388955928497,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20755511272701527,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611203757737132,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08604622647449875,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857352334685008,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1852314264596964,
+            "release_required_pad_clearance": 0.0528676167342504,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7451369156496286,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b6a20c170727fb43b315ebb7f4c41c13ac472455112423c298a5fe62a6292f46",
+    "visual_seed": 1048853048822465008,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae495f91edef6cbb863234bede76a01685463db8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_97_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28065470803065196,
+              -0.16159324201736827,
+              1.003998571511785
+            ],
+            "current_z": 1.003998571511785,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.142892063497019,
+            "gripper_z": 1.0053974763367415,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2773553644269258,
+              -0.16531054799214398,
+              1.0053974763367415
+            ],
+            "object_minus_gripper": [
+              0.0032993436037261348,
+              0.0037173059747757087,
+              -0.0013989048249565261
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+            "object_to_gripper_xy": 0.004970315073066469,
+            "object_to_gripper_z": -0.0013989048249565261,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28065470803065196,
+              -0.18517620311015295,
+              1.003998571511785
+            ],
+            "finger_b": [
+              0.2711521284710514,
+              -0.16159324201736827,
+              1.003998571511785
+            ],
+            "finger_midpoint": [
+              0.2759034182508517,
+              -0.1733847225637606,
+              1.003998571511785
+            ],
+            "object_minus_finger_midpoint": [
+              0.004751289779800272,
+              0.011791480546392341,
+              0.0
+            ],
+            "finger_gap": 0.025425480766159254,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0541652916838287,
+            "finger_top_clearance": 0.05016672017204371,
+            "fingertip_min_top_clearance": 0.015050016051613095,
+            "object_projection_between_fingers": 0.8603166373486948,
+            "object_to_finger_line_xy": 0.008813951881429952,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049365152635408444,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.22907510333942,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24524787678421833,
+              -0.1432857112439994,
+              0.7611064633398263
+            ],
+            "target_position": [
+              0.2597842197798115,
+              -0.1638245677367054,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.02516246994461199,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2091716634428829,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064633398263,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08412303774245726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09010011754280374,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18590829732015343,
+            "release_required_pad_clearance": 0.05505005877140187,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.180393362541705,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 189,
+            "max_placed_release_frames": 189
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b520750c4dd26d5daa454bdfab4b4434ee94cdbb1c079f41caf5da48134554ce",
+    "visual_seed": 8842337784255785405,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c0e5fd8d4f5da1befec120bb932407654e691ad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_98_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28298907308622595,
+              -0.16886705864081689,
+              1.004328595924843
+            ],
+            "current_z": 1.004328595924843,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14322214751472184,
+            "gripper_z": 1.0051840979365922,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              -0.17273650660646445,
+              1.0051840979365922
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+              0.003492493413234765,
+              0.00386944796564756,
+              -0.0008555020117493317
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+            "object_to_gripper_xy": 0.005212498230248357,
+            "object_to_gripper_z": -0.0008555020117493317,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28298907308622595,
+              -0.19242674733850781,
+              1.004328595924843
+            ],
+            "finger_b": [
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+              -0.16886705864081689,
+              1.004328595924843
+            ],
+            "finger_midpoint": [
+              0.27797893604350177,
+              -0.18064690298966235,
+              1.004328595924843
+            ],
+            "object_minus_finger_midpoint": [
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+              0.011779844348845464,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.009220924235218045,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04973031034348582,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.859714317046173,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 163,
+            "max_stable_success_frames": 163,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.29445980107848096,
+              0.036462477265529425,
+              0.7701463897966117
+            ],
+            "gripper_position": [
+              0.2921139354612952,
+              -0.0005897439465215593,
+              1.0378836450300009
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+              0.037052221212050984,
+              -0.2677372552333892
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+            "held_position": [
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+              0.003278523779961807,
+              1.0369893685404912
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+            "held_minus_target": [
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+              -0.033183953485567616,
+              0.2668429787438795
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+            "held_minus_gripper": [
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+              0.0038682677264833664,
+              -0.0008942764895096822
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+            "xy_dist": 0.037126408151619716,
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+            "held_gripper_dist": 0.0052780954643367175,
+            "max_held_gripper_dist": 0.005282205354232892,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0378836450300009,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.03177737932312,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 4.067284737335039,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 0.6807930704097735,
+            "max_source_tilt_deg": 89.89266378267128,
+            "source_upright_tilt_deg": 4.167599956370928,
+            "max_source_upright_tilt_deg": 89.69592149009586,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 0.6807930704097735,
+            "source_upright_return_tilt_deg": 4.167599956370928,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.920075813483186e-08,
+            "max_target_xy_drift": 1.8128044992205186e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 221,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 221,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.2945,
+                0.0365,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.2945,
+                0.0365,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0016,
+                -0.0013
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+              "controller_last_pour_pose_position": [
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+                1.034
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
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+                  -0.0016180920253669334,
+                  -0.0012970601902007979
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 4.168625525663498,
+              "source_return_best_wrist_position": -1.578169584274292,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.578169584274292
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.2945,
+              0.0365,
+              0.7701
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0016,
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+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.2929,
+              0.0096,
+              1.034
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0649,
+              0.0603,
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0015596309492700803,
+                -0.0016180920253669334,
+                -0.0012970601902007979
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 4.167605060668884,
+            "pour_controller_source_return_step_error_deg": 0.6807946292688609,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.168625525663498,
+            "pour_controller_source_return_best_wrist_position": -1.578169584274292,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.578169584274292,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.037126408151619716,
+            "valid_pour_held_xy_dist": 0.033203253389870964,
+            "valid_pour_held_gripper_dist": 0.0052780954643367175,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0369893685404912,
+            "valid_pour_source_tilt_deg": 0.6807930704097735,
+            "valid_pour_source_upright_tilt_deg": 4.167599956370928,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.920075813483186e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.2955917316150698,
+              -0.02012373369963399,
+              1.0369893685404912
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2855208252461028,
+              0.003278523779961807,
+              1.0369893685404912
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.2905562784305863,
+              -0.008422604959836093,
+              1.0369893685404912
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.2955917316150698,
+              0.003278523779961807,
+              1.0369893685404912
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02547722139939514,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024057604043967458,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.07121784912097434,
+              -0.9973557368993634,
+              0.014475912424094628
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00585837027432153,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03840867633840789,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2955917316150698,
+              -0.02012373369963399,
+              1.0369893685404912
+            ],
+            "held_grasp_finger_b": [
+              0.2855208252461028,
+              0.003278523779961807,
+              1.0369893685404912
+            ],
+            "held_grasp_midpoint": [
+              0.2905562784305863,
+              -0.008422604959836093,
+              1.0369893685404912
+            ],
+            "held_grasp_object_position": [
+              0.2955917316150698,
+              0.003278523779961807,
+              1.0369893685404912
+            ],
+            "held_grasp_finger_gap": 0.02547722139939514,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024057604043967458,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.07121784912097434,
+              -0.9973557368993634,
+              0.014475912424094628
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00585837027432153,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03840867633840789,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23813337999631273,
+              -0.14700658255768445,
+              0.7611064087362128
+            ],
+            "target_position": [
+              0.26121861383352707,
+              -0.17092900267495656,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.03324470191754065,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20272301954028432,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064087362128,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08612873508328919,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863717305645509,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18178423960585594,
+            "release_required_pad_clearance": 0.05318586528227545,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3949091474741173,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 187,
+            "max_placed_release_frames": 187
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41283f2545c43002a68e0a69f95c4c12cb1ca330af81d069d7e62145348c9083",
+    "visual_seed": 3866693647872963934,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5fd41b0fd9d783f302acf47d72b576655bbdba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_99_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 99,
+  "success": true,
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+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29800673561803853,
+              -0.015316784194635233,
+              1.0361723808917636
+            ],
+            "held_grasp_finger_b": [
+              0.2879464285962412,
+              0.008005145931769962,
+              1.0361723808917636
+            ],
+            "held_grasp_midpoint": [
+              0.29297658210713984,
+              -0.003655819131432636,
+              1.0361723808917636
+            ],
+            "held_grasp_object_position": [
+              0.29800673561803853,
+              0.008005145931769962,
+              1.0361723808917636
+            ],
+            "held_grasp_finger_gap": 0.025399255937797686,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023989878663576433,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.07270802009884998,
+              -0.9972765346767636,
+              0.012371628688712557
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005866404063939576,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03845677574344829,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.23788055825605356,
+              -0.145849986388387,
+              0.7611064107548404
+            ],
+            "target_position": [
+              0.2569797825322893,
+              -0.16595860782550473,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.027733319744582756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20621923800058106,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064107548404,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.08424333729987232,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864870070990507,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.183169189617295,
+            "release_required_pad_clearance": 0.05324350354952535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.507627731630681,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 191,
+            "max_placed_release_frames": 191
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "workflow_spec_digest": "d2f6cf09978f9ad0e72a26bcd7421e5da1fed361a15636016901e58a255a0e9e",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f7daf96c81dc282ee728f6ee4d40969e713ce145ff434ea111d1e16ebfeac16",
+    "visual_seed": 1280962088248446576,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539
+    ],
+    "runtime_workflow_digest": "746fd4cd756e677fcbf1f98203a4234bc3534aaab799fff06a6a97b119e1350f"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f61a69acc7eb41539b310dae72ff6996aff77a35
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00003/results/episode_9_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28253210882214325,
+              -0.16907154714133166,
+              1.005134617978014
+            ],
+            "current_z": 1.005134617978014,
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+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.144028169567893,
+            "gripper_z": 1.0058741582038975,
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+            "gripper_position": [
+              0.2791864387586836,
+              -0.17280724558813382,
+              1.0058741582038975
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+              0.0033456700634596492,
+              0.0037356984468021603,
+              -0.0007395402258834061
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+            "object_to_gripper_z": -0.0007395402258834061,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28253210882214325,
+              -0.19258318815636552,
+              1.005134617978014
+            ],
+            "finger_b": [
+              0.27280851560805897,
+              -0.16907154714133166,
+              1.005134617978014
+            ],
+            "finger_midpoint": [
+              0.2776703122151011,
+              -0.1808273676488486,
+              1.005134617978014
+            ],
+            "object_minus_finger_midpoint": [
+              0.004861796607042168,
+              0.011755820507516945,
+              0.0
+            ],
+            "finger_gap": 0.0254429858352515,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0550328676976786,
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+            "fingertip_min_top_clearance": 0.014969474915899332,
+            "object_projection_between_fingers": 0.8539446696202341,
+            "object_to_finger_line_xy": 0.008985487572335806,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04961986733454926,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.9314205715330646,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 164,
+            "max_stable_success_frames": 164,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ca0b88d34b0838cb0d34e84f7ffa6158e1dc42d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/dataset/meta/randomization_episodes.jsonl
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e2ef8fa9e27f438a256105ef752a517559349928
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/resolved_config.yaml
@@ -0,0 +1,254 @@
+name: fast_3beaker_preloaded_mix_s03_pol_lou_00004
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into the preloaded
+    beaker c and return it upright. Place beaker a at home.
+  layout_id: layout_00004
+  reproducibility:
+    enabled: true
+    layout_id: layout_00004
+    action_seed: 5534205038649275162
+    step_seeds:
+    - 8177086777345662735
+    - 7334121879167987492
+    - 3939905729978646839
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2616
+      - 0.2616
+      'y':
+      - 0.2099
+      - 0.2099
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2429
+      - 0.2429
+      'y':
+      - -0.2344
+      - -0.2344
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_c
+    path: /World/beaker_3
+    position_range:
+      x:
+      - 0.3472
+      - 0.3472
+      'y':
+      - 0.0119
+      - 0.0119
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.0683
+      - 0.0683
+      'y':
+      - 0.4039
+      - 0.4039
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.1543
+      - 0.1543
+      'y':
+      - -0.4373
+      - -0.4373
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_c
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba2a913a9a1488136c19acb0afc7200ccd451230
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_100_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28269127327566235,
+              0.20901287543542263,
+              1.0026399470254863
+            ],
+            "current_z": 1.0026399470254863,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.14153331980143058,
+            "gripper_z": 1.0046031730597196,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2774084652360744,
+              0.20408881543850146,
+              1.0046031730597196
+            ],
+            "object_minus_gripper": [
+              0.005282808039587972,
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+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02435492873721611,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0021225848911025063,
+              -0.9996125326230842,
+              0.027753905243112942
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005773675496282136,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03756714439326845,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2561133189485518,
+              0.20260995670432494,
+              0.7611062017610298
+            ],
+            "target_position": [
+              0.25785663322553815,
+              0.20769655872664303,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005377049823257618,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21363156602164357,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611062017610298,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526121895903377,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08866971035265393,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18297946473624177,
+            "release_required_pad_clearance": 0.05433485517632697,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6919918560807865,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 268,
+            "max_placed_release_frames": 268
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f4936505c128cc3b98f4cb0a199b48fc5aafce2da64a81148a721d1c9542f8a",
+    "visual_seed": 5589534190275715849,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_101_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..611028f7c3bdb0dd755424c4247c59020b3c6f7b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_101_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2100159999441117,
+              1.0013331008352528
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+              0.20516950901006337,
+              1.0029616653055902
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+              0.18554139420731344,
+              1.0013331008352528
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+              0.2100159999441117,
+              1.0013331008352528
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+              0.19777869707571255,
+              1.0013331008352528
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3669963887936299,
+              0.016110840110711826,
+              0.7701463897966118
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+            "gripper_position": [
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+              0.0027925979645480464,
+              1.0246902431854472
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+              0.01331824214616378,
+              -0.25454385338883545
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+            "held_position": [
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+              0.007592612887057586,
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b926e68cdc2f8a7e68e22baae648e53fa12e3c54efd5dbf9f78eb4c3c098348",
+    "visual_seed": 7133638912102188663,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_102_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ff8c3e92125cba83354cda275a0696b7109ac4d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_102_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2127127416856427,
+              1.0010737614309857
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+            "lift_margin": 0.1399671342069302,
+            "gripper_z": 1.0032905472049494,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2078544811091182,
+              1.0032905472049494
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+              0.004858260576524498,
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+            "object_to_gripper_z": -0.00221678577396367,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.1878431484704563,
+              1.0010737614309857
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+            "finger_b": [
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+              0.2127127416856427,
+              1.0010737614309857
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+            "finger_midpoint": [
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+              0.2002779450780495,
+              1.0010737614309857
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+              0.012434796607593196,
+              0.0
+            ],
+            "finger_gap": 0.02749031865431412,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827250522708594,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.010749154581360597,
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+              -0.002866483709040704,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.99669782337499,
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+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+                0.7701
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+              "motion_plan": {
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+            "pour_controller_resolved_tilt_axis_world": null,
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
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+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
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+                0.00032090575216963107,
+                0.0016289347113581112
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_best_wrist_position": -1.6094862222671509,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6094862222671509,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014088233342450492,
+            "valid_pour_held_xy_dist": 0.0089116754314117,
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+            "valid_pour_required_height": 0.8001463897966119,
+            "valid_pour_held_z": 1.0254989376770163,
+            "valid_pour_source_tilt_deg": 1.9198318724591472,
+            "valid_pour_source_upright_tilt_deg": 2.9450566277567414,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.899898052198229e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37576116936390763,
+              -0.022017278059746286,
+              1.0254989376770163
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3637294347412813,
+              0.002031032796930123,
+              1.0254989376770163
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3697453020525945,
+              -0.009993122631408082,
+              1.0254989376770163
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37576116936390763,
+              0.002031032796930123,
+              1.0254989376770163
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026890219283015267,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024486533155475342,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.03906199721716837,
+              -0.9986792716653949,
+              0.03337473174846938
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006493133359919029,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03794696707670413,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37576116936390763,
+              -0.022017278059746286,
+              1.0254989376770163
+            ],
+            "held_grasp_finger_b": [
+              0.3637294347412813,
+              0.002031032796930123,
+              1.0254989376770163
+            ],
+            "held_grasp_midpoint": [
+              0.3697453020525945,
+              -0.009993122631408082,
+              1.0254989376770163
+            ],
+            "held_grasp_object_position": [
+              0.37576116936390763,
+              0.002031032796930123,
+              1.0254989376770163
+            ],
+            "held_grasp_finger_gap": 0.026890219283015267,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024486533155475342,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.03906199721716837,
+              -0.9986792716653949,
+              0.03337473174846938
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006493133359919029,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03794696707670413,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26715657337848847,
+              0.2100404880268413,
+              0.7611076212908529
+            ],
+            "target_position": [
+              0.261926575700733,
+              0.21060564722926808,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005260444908314796,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21881281935970556,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611076212908529,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535501195772343,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08779069250570386,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18835898502427692,
+            "release_required_pad_clearance": 0.05389534625285193,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.79631442995109,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0a3382e12a5b9c15d2d66ff1b92e2e7817d8adeb28f702e43d28be3f2845558d",
+    "visual_seed": 2515292674168362436,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_103_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49ac23825728e530a748d0e3d92bf777630a76aa
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_103_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.290584579195962,
+              0.2105666058413712,
+              1.0032399655146138
+            ],
+            "current_z": 1.0032399655146138,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.14213321908126875,
+            "gripper_z": 1.0047623336804572,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2852142052192661,
+              0.20562197219812997,
+              1.0047623336804572
+            ],
+            "object_minus_gripper": [
+              0.005370373976695875,
+              0.004944633643241242,
+              -0.0015223681658433907
+            ],
+            "object_to_gripper_xy": 0.0073000218160938005,
+            "object_to_gripper_z": -0.0015223681658433907,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.290584579195962,
+              0.18582055033222053,
+              1.0032399655146138
+            ],
+            "finger_b": [
+              0.2787314441399763,
+              0.2105666058413712,
+              1.0032399655146138
+            ],
+            "finger_midpoint": [
+              0.2846580116679691,
+              0.19819357808679589,
+              1.0032399655146138
+            ],
+            "object_minus_finger_midpoint": [
+              0.005926567527992865,
+              0.012373027754575328,
+              0.0
+            ],
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2557609170373577,
+              0.20264517600184356,
+              0.7611179493306899
+            ],
+            "target_position": [
+              0.26586580125409265,
+              0.20716678839975688,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.011070395824476307,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2075805960708342,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611179493306899,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753421651127002,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586007634203217,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17752914099709408,
+            "release_required_pad_clearance": 0.05293003817101609,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.858261249714773,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 251,
+            "max_placed_release_frames": 251
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c78c0c0e45d24c9845244a9883a69b4c01acf8b5ff08fff4516e9a735b544f2f",
+    "visual_seed": 4612024593799886195,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_104_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d620162b0dba4b3889c67d577c78696cfdb7873
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_104_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+            "stable_success_frames": 171,
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dab6f67f82e99e0347c9ecb247f4e64fcea911be80b73182ba1bcddde9474e00",
+    "visual_seed": 7099143548928997890,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_105_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e42791ac4f213eb1869e274f333a2d5671dbda7b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_105_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28885175824995635,
+              0.21515733989484845,
+              1.000874653588519
+            ],
+            "current_z": 1.000874653588519,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.13976796675981862,
+            "gripper_z": 1.0021136974215206,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2836009164155796,
+              0.21036046046403925,
+              1.0021136974215206
+            ],
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+              0.0052508418343767405,
+              0.004796879430809198,
+              -0.0012390438330016629
+            ],
+            "object_to_gripper_xy": 0.007112059634406988,
+            "object_to_gripper_z": -0.0012390438330016629,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28885175824995635,
+              0.19034953432189503,
+              1.000874653588519
+            ],
+            "finger_b": [
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+              0.21515733989484845,
+              1.000874653588519
+            ],
+            "finger_midpoint": [
+              0.2831251995655807,
+              0.20275343710837174,
+              1.000874653588519
+            ],
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+              0.00572655868437566,
+              0.012403902786476712,
+              0.0
+            ],
+            "finger_gap": 0.027324002540035235,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0508780733870187,
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+            "fingertip_min_top_clearance": 0.01500102593954996,
+            "object_projection_between_fingers": 0.8243052483304253,
+            "object_to_finger_line_xy": 0.01039842931034335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048074736181087305,
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+            "object_tilt_deg": 0.6994010903109268,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3701512626415912,
+              0.007361969302080643,
+              0.7701463897966118
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+            "gripper_position": [
+              0.3692692635477497,
+              -0.006764673390834211,
+              1.0278044019120887
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004738871912053005,
+              -0.0012729643775544197
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+            "max_held_gripper_dist": 0.007236474618346667,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966118,
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+            "gripper_z": 1.0278044019120887,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21148648657532,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 1.469418000175464,
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+            "source_tilt_deg": 1.957732547993484,
+            "max_source_tilt_deg": 89.79836681075284,
+            "source_upright_tilt_deg": 1.621746673121801,
+            "max_source_upright_tilt_deg": 89.71723173769223,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.957732547993484,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.709331663076273e-08,
+            "max_target_xy_drift": 1.531402739718228e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0074,
+                0.7701
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+              "controller_target_position": [
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+                0.0074,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0019
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+              "controller_last_pour_pose_position": [
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+                  0.2
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+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.606879711151123
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
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+              "approach_xy_threshold_m": 0.08,
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+                -4.037100414563521e-06,
+                0.0019434439270847176
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+            "pour_controller_source_pose_feedback": true,
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.966732211423712,
+            "pour_controller_source_return_best_wrist_position": -1.606879711151123,
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+            "pour_controller_wrist_compensated_return_position": -1.606879711151123,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014154149786363783,
+            "valid_pour_held_xy_dist": 0.010369970256908792,
+            "valid_pour_held_gripper_dist": 0.007213329789010407,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0265314375345342,
+            "valid_pour_source_tilt_deg": 1.957732547993484,
+            "valid_pour_source_upright_tilt_deg": 1.621746673121801,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.709331663076273e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3745564916816264,
+              -0.02644818161546494,
+              1.0265314375345342
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3633304082407296,
+              -0.0020258014787812063,
+              1.0265314375345342
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.368943449961178,
+              -0.014236991547123073,
+              1.0265314375345342
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3745564916816264,
+              -0.0020258014787812063,
+              1.0265314375345342
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026878943449523122,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02450723191518329,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.008429841196311096,
+              -0.9995994525468447,
+              0.027016147864816986
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005725256364875968,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037561268213166715,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3745564916816264,
+              -0.02644818161546494,
+              1.0265314375345342
+            ],
+            "held_grasp_finger_b": [
+              0.3633304082407296,
+              -0.0020258014787812063,
+              1.0265314375345342
+            ],
+            "held_grasp_midpoint": [
+              0.368943449961178,
+              -0.014236991547123073,
+              1.0265314375345342
+            ],
+            "held_grasp_object_position": [
+              0.3745564916816264,
+              -0.0020258014787812063,
+              1.0265314375345342
+            ],
+            "held_grasp_finger_gap": 0.026878943449523122,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02450723191518329,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.008429841196311096,
+              -0.9995994525468447,
+              0.027016147864816986
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005725256364875968,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037561268213166715,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26175193356020937,
+              0.21026969047855903,
+              0.7611063814216901
+            ],
+            "target_position": [
+              0.26420279926529416,
+              0.21167123587051412,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.002823308730916849,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21197247392501023,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063814216901,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756585948201856,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08781619861948518,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18138761287462885,
+            "release_required_pad_clearance": 0.053908099309742594,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8261090222417877,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5727674a1479945dfca5e1f61dfc3c13780bec7e7db0c93fd1bf719010824197",
+    "visual_seed": 1729094736307997750,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_106_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d97409f974e420459f79c95d8589d092323e125
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_106_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2883823523906267,
+              0.21221981332726308,
+              1.0018630749873472
+            ],
+            "current_z": 1.0018630749873472,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14075656697258132,
+            "gripper_z": 1.0030446060832594,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2832143012912524,
+              0.20741416110115668,
+              1.0030446060832594
+            ],
+            "object_minus_gripper": [
+              0.005168051099374293,
+              0.004805652226106405,
+              -0.001181531095912236
+            ],
+            "object_to_gripper_xy": 0.007057127282685589,
+            "object_to_gripper_z": -0.001181531095912236,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2883823523906267,
+              0.18758191808228306,
+              1.0018630749873472
+            ],
+            "finger_b": [
+              0.27677224965569025,
+              0.21221981332726308,
+              1.0018630749873472
+            ],
+            "finger_midpoint": [
+              0.2825773010231585,
+              0.19990086570477306,
+              1.0018630749873472
+            ],
+            "object_minus_finger_midpoint": [
+              0.005805051367468228,
+              0.012318947622490029,
+              0.0
+            ],
+            "finger_gap": 0.02723637948807419,
+            "fingertip_max_gap": 0.0910507535404185,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013618189744037107,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0018630749873472,
+            "object_top_z": 1.0517851350685579,
+            "finger_top_clearance": 0.049922060081210695,
+            "fingertip_min_top_clearance": 0.014976618024363241,
+            "object_projection_between_fingers": 0.81829228287633,
+            "object_to_finger_line_xy": 0.010502441967078292,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802537677020925,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2527694483532115,
+              0.2091105753354783,
+              0.7611066099489407
+            ],
+            "target_position": [
+              0.26383608286435356,
+              0.21071423896313882,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.01118222412733179,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20626648205770842,
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+            "gripper_away_ok": true,
+            "object_z": 0.7611066099489407,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518487995117382,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08899595451109667,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17716737454538928,
+            "release_required_pad_clearance": 0.054497977255548335,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.02648455932189,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 246,
+            "max_placed_release_frames": 246
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d85e30471afd17145c40483e0807900ac7b277c4add3a6ff8a7b47790d93afb",
+    "visual_seed": 6209531056075763520,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_107_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cf54b09b2de59dcc0853514a68be0092988ffdc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_107_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                {
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
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+            "max_source_tilt_deg": 89.93045200410191,
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+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+                "split_aloha",
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1644ab35d8aebd033e2f7d84869afc1eda1cf3ceb3321496d5dafbfcd6d70e8d",
+    "visual_seed": 7749308569644646777,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_108_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a080c682644fe6d0051573de78fab15d05847515
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_108_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
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+          "metrics": {
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+              0.21136062926283058,
+              1.000110757214291
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+            "lift_margin": 0.1390043088041698,
+            "gripper_z": 1.0019733753336726,
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+            "gripper_position": [
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+              0.20658023529566477,
+              1.0019733753336726
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+              0.0047803939671658136,
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+            "object_to_gripper_xy": 0.0070722579406940645,
+            "object_to_gripper_z": -0.0018626181193814872,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28910291550259165,
+              0.18662325858866174,
+              1.000110757214291
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+            "finger_b": [
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+              0.21136062926283058,
+              1.000110757214291
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+            "finger_midpoint": [
+              0.28336449157417887,
+              0.19899194392574615,
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+            "object_minus_finger_midpoint": [
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+              0.012368685337084434,
+              0.0
+            ],
+            "finger_gap": 0.027270048489138228,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010410947370277536,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.015802449403934254,
+              0.7701463897966117
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+              0.004100242611331545,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22033841173966,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.97842788252109,
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+            "max_source_upright_tilt_deg": 89.72927816914519,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 6.064333243705223e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.7701
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+              "controller_target_position": [
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+              "pour_pose_offset": [
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+              "wrist_joint_name": "wrist_3_joint",
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+              0.2,
+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
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+              "pour_pose_offset_m": [
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+                0.0018576942199381875,
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.2327184865624417,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.227537348336745,
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+            "pour_controller_wrist_compensated_return_position": -1.608437418937683,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.011805284799416409,
+            "valid_pour_held_xy_dist": 0.007751434898263394,
+            "valid_pour_held_gripper_dist": 0.007303781009538457,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0232449203644358,
+            "valid_pour_source_tilt_deg": 1.8868654418710298,
+            "valid_pour_source_upright_tilt_deg": 2.232710270712957,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.064333243705223e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3715341844571546,
+              -0.015003011549454949,
+              1.0232449203644358
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35972568276293443,
+              0.008929150704747067,
+              1.0232449203644358
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3656299336100445,
+              -0.003036930422353941,
+              1.0232449203644358
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3715341844571546,
+              0.008929150704747067,
+              1.0232449203644358
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026686871349482912,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02423921307551417,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02754109241201167,
+              -0.9992408452315016,
+              0.0275539733938216
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006240168192763829,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03792586256874589,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3715341844571546,
+              -0.015003011549454949,
+              1.0232449203644358
+            ],
+            "held_grasp_finger_b": [
+              0.35972568276293443,
+              0.008929150704747067,
+              1.0232449203644358
+            ],
+            "held_grasp_midpoint": [
+              0.3656299336100445,
+              -0.003036930422353941,
+              1.0232449203644358
+            ],
+            "held_grasp_object_position": [
+              0.3715341844571546,
+              0.008929150704747067,
+              1.0232449203644358
+            ],
+            "held_grasp_finger_gap": 0.026686871349482912,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02423921307551417,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02754109241201167,
+              -0.9992408452315016,
+              0.0275539733938216
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006240168192763829,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03792586256874589,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25575068886457136,
+              0.20989996005958153,
+              0.7611099399408048
+            ],
+            "target_position": [
+              0.2645431334332247,
+              0.20881113947094782,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.008859605621418742,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20867378273850282,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611099399408048,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517541620866175,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08865153618827286,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18022716288232063,
+            "release_required_pad_clearance": 0.05432576809413643,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.663036464191503,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 257,
+            "max_placed_release_frames": 257
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1285271bc09db5804ba2d224525031e2052ecf823f31fafcd7363c870b8cca2",
+    "visual_seed": 7694582207579313865,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_109_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ab392e05698275aea0d448a6ebf21461de02f1b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_109_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28237873491002746,
+              0.21060180118977814,
+              1.0034451579673385
+            ],
+            "current_z": 1.0034451579673385,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.14233859034792784,
+            "gripper_z": 1.0054215544425709,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27717314256053494,
+              0.2056990274608197,
+              1.0054215544425709
+            ],
+            "object_minus_gripper": [
+              0.005205592349492527,
+              0.004902773728958448,
+              -0.0019763964752324004
+            ],
+            "object_to_gripper_xy": 0.007150900778675387,
+            "object_to_gripper_z": -0.0019763964752324004,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28237873491002746,
+              0.18606138725862484,
+              1.0034451579673385
+            ],
+            "finger_b": [
+              0.2704644380718856,
+              0.21060180118977814,
+              1.0034451579673385
+            ],
+            "finger_midpoint": [
+              0.2764215864909565,
+              0.1983315942242015,
+              1.0034451579673385
+            ],
+            "object_minus_finger_midpoint": [
+              0.005957148419070968,
+              0.012270206965576652,
+              0.0
+            ],
+            "finger_gap": 0.027279706469456388,
+            "fingertip_max_gap": 0.09116529479505095,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013639853234728208,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0034451579673385,
+            "object_top_z": 1.0534735203567052,
+            "finger_top_clearance": 0.0500283623893667,
+            "fingertip_min_top_clearance": 0.015008508716810042,
+            "object_projection_between_fingers": 0.8092531185940799,
+            "object_to_finger_line_xy": 0.01071792236599014,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808264739752548,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6269144336936449,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
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+                "panda_leftfingertip",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "joint3",
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+                "left_inner_finger",
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+                "panda_joint2",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24809798582680273,
+              0.2004956759889537,
+              0.7611081610021416
+            ],
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+              0.2576483264836582,
+              0.20781889448861576,
+              0.7774145980897915
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20825487557395955,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611081610021416,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07592367773569485,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08714257910005489,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17665338589007137,
+            "release_required_pad_clearance": 0.05357128955002745,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.153310106331224,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 250,
+            "max_placed_release_frames": 250
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ee6f75edf5538772a73055d3eb096f8eeb3616f20f49e824236036b1aeb6dea",
+    "visual_seed": 7076778150398169491,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_111_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..38a1d52285ad4bedc0974952d7f8ad4b0433ac61
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_111_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+            "stable_success_frames": 171,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "rotation_satisfied_by_source_tilt": true,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_xy_drift": 4.021976679761667e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41b02d9b8074f9f45760b6142578f451d52794f874de6ad247e2bc3ed6092a5f",
+    "visual_seed": 6929533483552082212,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd2e51a8ba738d900da95e12bd370d6b0ad2d6c9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_11_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.002629642645339
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+              0.20760657124678306,
+              1.004182601038123
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+              0.2123920507782351,
+              1.002629642645339
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+              0.20020157878256756,
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+              1.0
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+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "source_tilt_threshold_deg": 30.0,
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+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "valid_pour_target_xy_drift": 3.465971735479011e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36991105952524944,
+              -0.019979944138563372,
+              1.0245457056164757
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3588340086842946,
+              0.004299447268781434,
+              1.0245457056164757
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.364372534104772,
+              -0.007840248434890968,
+              1.0245457056164757
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36991105952524944,
+              0.004299447268781434,
+              1.0245457056164757
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02668688633850242,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024123074139188416,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.01311839825591943,
+              -0.9995467718469933,
+              0.027095359703348525
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005388903689534049,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03751339983606814,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36991105952524944,
+              -0.019979944138563372,
+              1.0245457056164757
+            ],
+            "held_grasp_finger_b": [
+              0.3588340086842946,
+              0.004299447268781434,
+              1.0245457056164757
+            ],
+            "held_grasp_midpoint": [
+              0.364372534104772,
+              -0.007840248434890968,
+              1.0245457056164757
+            ],
+            "held_grasp_object_position": [
+              0.36991105952524944,
+              0.004299447268781434,
+              1.0245457056164757
+            ],
+            "held_grasp_finger_gap": 0.02668688633850242,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024123074139188416,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01311839825591943,
+              -0.9995467718469933,
+              0.027095359703348525
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005388903689534049,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03751339983606814,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25941933926551447,
+              0.2124802693900279,
+              0.761106423578739
+            ],
+            "target_position": [
+              0.2615156636279147,
+              0.21103755956171638,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0025447961570819904,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21389001359973317,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106423578739,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521984941858567,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09108327221572794,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18435173552131578,
+            "release_required_pad_clearance": 0.05554163610786397,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.2330535192276715,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "472c8f07187bd328e7763d30775c9a89ea2a1865bff137ae8024cfc9b2ece6a9",
+    "visual_seed": 1994619170126542025,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2a0fe6f30a4112186e3b2af05efd4c58d8316d5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_12_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28543214333191597,
+              0.2129150737707351,
+              1.0004249182821034
+            ],
+            "current_z": 1.0004249182821034,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1393184102673375,
+            "gripper_z": 1.0022672551914724,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2803259352906903,
+              0.20803377901168313,
+              1.0022672551914724
+            ],
+            "object_minus_gripper": [
+              0.0051062080412256905,
+              0.004881294759051968,
+              -0.001842336909368969
+            ],
+            "object_to_gripper_xy": 0.007064021452758061,
+            "object_to_gripper_z": -0.001842336909368969,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28543214333191597,
+              0.1884825692929897,
+              1.0004249182821034
+            ],
+            "finger_b": [
+              0.2735166450425768,
+              0.2129150737707351,
+              1.0004249182821034
+            ],
+            "finger_midpoint": [
+              0.2794743941872464,
+              0.20069882153186241,
+              1.0004249182821034
+            ],
+            "object_minus_finger_midpoint": [
+              0.005957749144669566,
+              0.012216252238872682,
+              0.0
+            ],
+            "finger_gap": 0.027183200226211294,
+            "fingertip_max_gap": 0.09100517047831977,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013591600113105623,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0004249182821034,
+            "object_top_z": 1.0505319063384984,
+            "finger_top_clearance": 0.05010698805639491,
+            "fingertip_min_top_clearance": 0.015032096416918505,
+            "object_projection_between_fingers": 0.8078575831428965,
+            "object_to_finger_line_xy": 0.01070975686770431,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800258523915989,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6372013020728894,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2533044425216016,
+              0.21880757901513379,
+              0.7611092217547462
+            ],
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+              0.2609454859589987,
+              0.20856631004364196,
+              0.7774145980897915
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2090728814585768,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611092217547462,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08598319234870848,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18244397835777795,
+            "release_required_pad_clearance": 0.05299159617435424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0110259487318958,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 263,
+            "max_placed_release_frames": 263
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3cc7620c29c2f29253b762f12976a339db46d26ad7e1c037c44099b979f66434",
+    "visual_seed": 3530295884429890812,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a9e0d4d3ba690867b56f3a27d0ca06cc5d6ab5f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_14_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+            "stable_success_frames": 171,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.80540561131792,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 4.4166690488827884e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                -0.0,
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+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8516f5800c85c0b4f2a72a42109a795b2bfd48f9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_15_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.21677447257767463,
+              1.000913756475975
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+              0.21177812840895943,
+              1.0026935573847242
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+              0.004996344168715194,
+              -0.001779800908749296
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+            "object_to_gripper_xy": 0.0072083695437057576,
+            "object_to_gripper_z": -0.001779800908749296,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.19239355387992663,
+              1.000913756475975
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+            "finger_b": [
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+              0.21677447257767463,
+              1.000913756475975
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+            "finger_midpoint": [
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+              0.20458401322880063,
+              1.000913756475975
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+              0.012190459348874,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 0.7578327231613554,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+              0.006966292249642391,
+              0.7701464494012565
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+              -0.004970872833629389,
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+              0.004785752932617415,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.93424574350566,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+              "tilt_axis_frame": "end_effector",
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+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02376650425380905,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.008329095383400936,
+              -0.9986956858818871,
+              0.05037413196276097
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005661816669080846,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037741557882430526,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3735881662341979,
+              -0.024078228334236094,
+              1.0238369889793435
+            ],
+            "held_grasp_finger_b": [
+              0.36212953160861605,
+              -0.00018511990101197431,
+              1.0238369889793435
+            ],
+            "held_grasp_midpoint": [
+              0.36785884892140697,
+              -0.012131674117624034,
+              1.0238369889793435
+            ],
+            "held_grasp_object_position": [
+              0.3735881662341979,
+              -0.00018511990101197431,
+              1.0238369889793435
+            ],
+            "held_grasp_finger_gap": 0.026498696912950048,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02376650425380905,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.008329095383400936,
+              -0.9986956858818871,
+              0.05037413196276097
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005661816669080846,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037741557882430526,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25943000417237355,
+              0.2171756362452885,
+              0.7611063683219995
+            ],
+            "target_position": [
+              0.25974403263010054,
+              0.212774592824774,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004412232661761635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2150434303025605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063683219995,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539619251019661,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08843012240342966,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18592061665168322,
+            "release_required_pad_clearance": 0.054215061201714834,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4470290167705278,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 264,
+            "max_placed_release_frames": 264
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96f9010667eda80df5c044bdb7090bd589ef00621d4dc5a39bed469a3e7507d8",
+    "visual_seed": 6080038306542862089,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea7500b3e747b9fdc10c9e6a926466f406ed1251
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_16_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2897247246083396,
+              0.2153168395052313,
+              1.0026068342949663
+            ],
+            "current_z": 1.0026068342949663,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14150038588484504,
+            "gripper_z": 1.0037774893889289,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2845853120103039,
+              0.21038282500857503,
+              1.0037774893889289
+            ],
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+              0.005139412598035686,
+              0.004934014496656286,
+              -0.0011706550939625249
+            ],
+            "object_to_gripper_xy": 0.007124469166616016,
+            "object_to_gripper_z": -0.0011706550939625249,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2897247246083396,
+              0.19090419196293776,
+              1.0026068342949663
+            ],
+            "finger_b": [
+              0.2776778169513129,
+              0.2153168395052313,
+              1.0026068342949663
+            ],
+            "finger_midpoint": [
+              0.2837012707798262,
+              0.20311051573408453,
+              1.0026068342949663
+            ],
+            "object_minus_finger_midpoint": [
+              0.006023453828513381,
+              0.012206323771146776,
+              0.0
+            ],
+            "finger_gap": 0.027223250065361044,
+            "fingertip_max_gap": 0.0913625171254123,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013611625032680534,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0026068342949663,
+            "object_top_z": 1.0526197635159416,
+            "finger_top_clearance": 0.05001292922097522,
+            "fingertip_min_top_clearance": 0.015003878766292549,
+            "object_projection_between_fingers": 0.8041736100702056,
+            "object_to_finger_line_xy": 0.010803152081380643,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818125856270615,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1175821554091045,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2656206879726114,
+              0.2137909719180128,
+              0.7611063748401673
+            ],
+            "target_position": [
+              0.26526604088120115,
+              0.21381528685804377,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0003554796418284211,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21534531459622905,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063748401673,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577373434476671,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554052878296585,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18441392709587265,
+            "release_required_pad_clearance": 0.05277026439148293,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5895011195266888,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e11c9382c3e1a68e3e872a4cad84f3d53ac8d3f7156b89f336d709b40a4333e9",
+    "visual_seed": 4787550593135310389,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..754bdde1012b5ec1171f6450a2f43f07284e8795
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_17_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2858533221864685,
+              0.213035371429905,
+              1.0032641821567891
+            ],
+            "current_z": 1.0032641821567891,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14215773374666796,
+            "gripper_z": 1.0051043699241395,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28059609648095885,
+              0.20821872617687473,
+              1.0051043699241395
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+              0.004816645253030272,
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+            "object_to_gripper_xy": 0.007130111753136149,
+            "object_to_gripper_z": -0.0018401877673503986,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2858533221864685,
+              0.18823385113589447,
+              1.0032641821567891
+            ],
+            "finger_b": [
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+              0.213035371429905,
+              1.0032641821567891
+            ],
+            "finger_midpoint": [
+              0.28011010937027503,
+              0.20063461128289972,
+              1.0032641821567891
+            ],
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+              0.005743212816193444,
+              0.01240076014700528,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010422871656229595,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047857161305023196,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6592808810999312,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.013964949964217922,
+              0.7701464494012565
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+              0.0013780267717842937,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.0048488828103503655,
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+            "max_held_gripper_dist": 0.007422576251057511,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001464494012566,
+            "gripper_z": 1.0256518096937675,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21441663772926,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 1.3788716994153942,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8020659329412478,
+            "max_source_tilt_deg": 89.86291519310075,
+            "source_upright_tilt_deg": 2.338643185573214,
+            "max_source_upright_tilt_deg": 89.9606971738364,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8020659329412478,
+            "source_upright_return_tilt_deg": 2.338643185573214,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.862645149230957e-09,
+            "max_target_xy_drift": 9.17246360499049e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3731,
+                0.014,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.014,
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+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
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+                  0.001834525969582538,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.607922911643982
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3731,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0014,
+              -0.0006
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_t": 0.0,
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+              0.0603,
+              0.0904
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.001834525969582538,
+                0.0013795384054407283,
+                -0.0006348257462850339
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.3386437674494522,
+            "pour_controller_source_return_step_error_deg": 1.8020886832257914,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.3319922208690507,
+            "pour_controller_source_return_best_wrist_position": -1.607922911643982,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.607922911643982,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01267433458603594,
+            "valid_pour_held_xy_dist": 0.008584135570354156,
+            "valid_pour_held_gripper_dist": 0.007354664816020713,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0237764845969877,
+            "valid_pour_source_tilt_deg": 1.8020659329412478,
+            "valid_pour_source_upright_tilt_deg": 2.338643185573214,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.862645149230957e-09,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37678445059780796,
+              -0.017835713432506752,
+              1.0237764845969877
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3650469423194851,
+              0.006226909582134659,
+              1.0237764845969877
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3709156964586465,
+              -0.0058044019251860465,
+              1.0237764845969877
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37678445059780796,
+              0.006226909582134659,
+              1.0237764845969877
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02677272729716658,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024383177921939444,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02901778226933497,
+              -0.9991671085777032,
+              0.028688977824973816
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0062248460595187936,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03786925756873023,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37678445059780796,
+              -0.017835713432506752,
+              1.0237764845969877
+            ],
+            "held_grasp_finger_b": [
+              0.3650469423194851,
+              0.006226909582134659,
+              1.0237764845969877
+            ],
+            "held_grasp_midpoint": [
+              0.3709156964586465,
+              -0.0058044019251860465,
+              1.0237764845969877
+            ],
+            "held_grasp_object_position": [
+              0.37678445059780796,
+              0.006226909582134659,
+              1.0237764845969877
+            ],
+            "held_grasp_finger_gap": 0.02677272729716658,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024383177921939444,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02901778226933497,
+              -0.9991671085777032,
+              0.028688977824973816
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0062248460595187936,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03786925756873023,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.250959355178559,
+              0.21485717106467095,
+              0.761112267181657
+            ],
+            "target_position": [
+              0.26119868339288765,
+              0.21117719478029578,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010880536187813105,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20769303830410515,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761112267181657,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584244202960236,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08830109444026125,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1785114645761084,
+            "release_required_pad_clearance": 0.05415054722013063,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2887002979749855,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 264,
+            "max_placed_release_frames": 264
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d85a3f402d27bca4abafc87d4619b9591a15dec9a44b15cbc641e2f1f631cf72",
+    "visual_seed": 1407003735743971226,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7034ae167b94eac8bc88b6bb23a8fcdca32d505
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_18_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
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+  "step_accuracy": "3/3",
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+            "valid_pour_held_grasp_top_clearance": 0.03764448051097367,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3699233936418703,
+              -0.021279846862146803,
+              1.0244655511404877
+            ],
+            "held_grasp_finger_b": [
+              0.358522188880743,
+              0.0029920801475026605,
+              1.0244655511404877
+            ],
+            "held_grasp_midpoint": [
+              0.36422279126130663,
+              -0.009143883357322071,
+              1.0244655511404877
+            ],
+            "held_grasp_object_position": [
+              0.3699233936418703,
+              0.0029920801475026605,
+              1.0244655511404877
+            ],
+            "held_grasp_finger_gap": 0.026816299348845725,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02437227821274286,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.00968051618775769,
+              -0.9995872456211385,
+              0.02704858587587
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005827029024015835,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03764448051097367,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2634293215437994,
+              0.20849107751286236,
+              0.7611091263562171
+            ],
+            "target_position": [
+              0.25961650472708414,
+              0.21374079100483526,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006488225013486265,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21626590081475833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611091263562171,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515763423418907,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09281547930027863,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18531852615418537,
+            "release_required_pad_clearance": 0.056407739650139316,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.147044210918226,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 253,
+            "max_placed_release_frames": 253
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b6533b61078b0a2dc7ca6f33b03066faa83169b53ef577334e1a1b96f6ac6815",
+    "visual_seed": 8341457530211719912,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffc16f10772f78ad2bda9773eaf8f979f0b9e460
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_19_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2816973543172763,
+              0.20917134658735612,
+              1.0017267995479804
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+            "current_z": 1.0017267995479804,
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+            "gripper_z": 1.0037412978470415,
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+            "gripper_position": [
+              0.276288588974667,
+              0.20429818184873805,
+              1.0037412978470415
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+              0.005408765342609312,
+              0.004873164738618069,
+              -0.002014498299061085
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+            "object_to_gripper_z": -0.002014498299061085,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2816973543172763,
+              0.18426234355622415,
+              1.0017267995479804
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+            "finger_b": [
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+              0.20917134658735612,
+              1.0017267995479804
+            ],
+            "finger_midpoint": [
+              0.2759085615373434,
+              0.19671684507179013,
+              1.0017267995479804
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+              0.005788792779932939,
+              0.012454501515565986,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "finger_top_clearance": 0.0500036579440446,
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+            "object_to_finger_line_xy": 0.010498929842064358,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803351078813502,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.609868024485957,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513816225128948,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08668644080459091,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18542490712606502,
+            "release_required_pad_clearance": 0.05334322040229546,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7026765010639784,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d19bb2ff87103cef5db920f4e19ae53c0e33bf9514e7d74513b0bc1284f1ac1b",
+    "visual_seed": 7051359417593320055,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..240d66bc9ce09a481f4334276f02735828a19b72
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_1_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29084514595612704,
+              0.21380630423650995,
+              1.002709571426644
+            ],
+            "current_z": 1.002709571426644,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.1416031826211679,
+            "gripper_z": 1.004001960506052,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28554586103264396,
+              0.20889759685863324,
+              1.004001960506052
+            ],
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+              0.005299284923483083,
+              0.004908707377876714,
+              -0.001292389079407874
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+            "object_to_gripper_xy": 0.007223422237546161,
+            "object_to_gripper_z": -0.001292389079407874,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29084514595612704,
+              0.1890926921462333,
+              1.002709571426644
+            ],
+            "finger_b": [
+              0.2790645506087752,
+              0.21380630423650995,
+              1.002709571426644
+            ],
+            "finger_midpoint": [
+              0.2849548482824511,
+              0.20144949819137165,
+              1.002709571426644
+            ],
+            "object_minus_finger_midpoint": [
+              0.005890297673675937,
+              0.012356806045138308,
+              0.0
+            ],
+            "finger_gap": 0.02737782038962772,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.0526159692252257,
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+            "object_projection_between_fingers": 0.8148444488158303,
+            "object_to_finger_line_xy": 0.01063419437572434,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04805511784761858,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8879215753264895,
+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.36688939845625795,
+              0.010018139003448267,
+              0.7701465090059015
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+            "gripper_position": [
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+              -0.004470487493164574,
+              1.0269437609290704
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+            "held_position": [
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+              0.0003535014525869705,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004823988945751544,
+              -0.0013285932934181677
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+            "held_gripper_dist": 0.007331249446007673,
+            "max_held_gripper_dist": 0.007356633913460988,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059015,
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+            "gripper_z": 1.0269437609290704,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2124017319241,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
+            ],
+            "source_start_tilt_deg": 1.092995916209283,
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+            "source_tilt_deg": 1.8522304383970782,
+            "max_source_tilt_deg": 89.94045014443434,
+            "source_upright_tilt_deg": 1.6354218586496527,
+            "max_source_upright_tilt_deg": 89.97989070646817,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8522304383970782,
+            "source_upright_return_tilt_deg": 1.6354218586496527,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.18085337955215e-08,
+            "max_target_xy_drift": 1.218325137595078e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.01,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.01,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3669,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0016004188285257664,
+                -0.0008249172809789247,
+                0.0008661676211154839
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.6354125301964315,
+            "pour_controller_source_return_step_error_deg": 1.8522472654513356,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8404223005102773,
+            "pour_controller_source_return_best_wrist_position": -1.6073039770126343,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6073039770126343,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01452279059549895,
+            "valid_pour_held_xy_dist": 0.01060370332923954,
+            "valid_pour_held_gripper_dist": 0.007331249446007673,
+            "valid_pour_required_height": 0.8001465090059016,
+            "valid_pour_held_z": 1.0256151676356522,
+            "valid_pour_source_tilt_deg": 1.8522304383970782,
+            "valid_pour_source_upright_tilt_deg": 1.6354218586496527,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.18085337955215e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37125211610756287,
+              -0.02403602085563922,
+              1.0256151676356522
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35980326702549037,
+              0.0003535014525869705,
+              1.0256151676356522
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36552769156652665,
+              -0.011841259701526125,
+              1.0256151676356522
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37125211610756287,
+              0.0003535014525869705,
+              1.0256151676356522
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026942994334845847,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024465287123188857,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.007485417349459578,
+              -0.9995926694068841,
+              0.02754022140659751
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005825202468256371,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03757330592205092,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37125211610756287,
+              -0.02403602085563922,
+              1.0256151676356522
+            ],
+            "held_grasp_finger_b": [
+              0.35980326702549037,
+              0.0003535014525869705,
+              1.0256151676356522
+            ],
+            "held_grasp_midpoint": [
+              0.36552769156652665,
+              -0.011841259701526125,
+              1.0256151676356522
+            ],
+            "held_grasp_object_position": [
+              0.37125211610756287,
+              0.0003535014525869705,
+              1.0256151676356522
+            ],
+            "held_grasp_finger_gap": 0.026942994334845847,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024465287123188857,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.007485417349459578,
+              -0.9995926694068841,
+              0.02754022140659751
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005825202468256371,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03757330592205092,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25800749778744875,
+              0.2150675997835321,
+              0.7611064129385257
+            ],
+            "target_position": [
+              0.26618367097198975,
+              0.2110742849499674,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009099251139713374,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20897287130170042,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064129385257,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536586631972396,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0887376317854363,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18050922697614066,
+            "release_required_pad_clearance": 0.05436881589271815,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7615197352938803,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 249,
+            "max_placed_release_frames": 249
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bab77aac5438f417c6f257d0b2b8e5f81675f8f3063d507753ff9bea5f5ac9a0",
+    "visual_seed": 3847910901137467236,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a33c488a25ba5c83fcd4dbeed0c44a94580a906
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_20_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2852119995435422,
+              0.21145621708409562,
+              1.0005351948067005
+            ],
+            "current_z": 1.0005351948067005,
+            "required_z": 0.8611065676194108,
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+              1.0253762988364585
+            ],
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02430967604800205,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007781252390299161,
+              -0.9995962981853843,
+              0.027325679594747403
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005642519604392409,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03747627378338888,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2456054360707629,
+              0.1945658723694989,
+              0.7611067867184392
+            ],
+            "target_position": [
+              0.2605064122337161,
+              0.20732145011776099,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.019614888587520928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20608343965763745,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611067867184392,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550652030009089,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09108475216134633,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17412262929052744,
+            "release_required_pad_clearance": 0.05554237608067317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.2334303573889605,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2dd9352dcc622021f4575eb44c3441c91b038f8add210fe64e9e76b4978a9e16",
+    "visual_seed": 5217235453079912170,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..483611a89896748b2396aa894d563485d33c80cd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_21_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2863458902910268,
+              0.2142941619426203,
+              1.0012351987685268
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+            "gripper_z": 1.0029366611351818,
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+              0.28106010243682933,
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+              1.0029366611351818
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+              0.004890753407984588,
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+              0.2863458902910268,
+              0.1895777819637665,
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+              1.0012351987685268
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+              0.28047380973365893,
+              0.2019359719531934,
+              1.0012351987685268
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+              0.005872080557367876,
+              0.012358189989426893,
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_max_tilt_deg": 15.0,
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+              0.0,
+              1.0
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+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.01132278036945321,
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+              -0.0047395896935452375,
+              1.026857198424381
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+            "target_minus_gripper": [
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+              0.016062370062998446,
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0557301fcb64f39369a79bacf7e51986734731b83f39dbbd86f86b172b1f5968",
+    "visual_seed": 6872668782283977233,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_22_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec632506d5650b86e1d7d4c7e685066bbe30a03
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_22_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2903550515283744,
+              0.21409779906906104,
+              1.003682450451387
+            ],
+            "current_z": 1.003682450451387,
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+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14257594243662097,
+            "gripper_z": 1.0049682238981392,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2091022536209548,
+              1.0049682238981392
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+              0.004995545448106237,
+              -0.0012857734467521809
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+            "object_to_gripper_z": -0.0012857734467521809,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2903550515283744,
+              0.18969423191150175,
+              1.003682450451387
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+            "finger_b": [
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+              0.21409779906906104,
+              1.003682450451387
+            ],
+            "finger_midpoint": [
+              0.2842487442171989,
+              0.2018960154902814,
+              1.003682450451387
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01220178357877963,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.01092135501163051,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811459571814718,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.007562133340768594,
+              0.7701465090059012
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+            "gripper_position": [
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+              -0.005461923091211698,
+              1.0262594172115973
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+              -0.0006044984209082806,
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+            "held_minus_target": [
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+              0.25479116308176963
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+              0.004857424670303418,
+              -0.0013217451239264655
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+            "held_gripper_dist": 0.007322932557674443,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059012,
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+            "gripper_z": 1.0262594172115973,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22576158194066,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.72772392350574,
+            "source_upright_tilt_deg": 1.5950143215997596,
+            "max_source_upright_tilt_deg": 89.80664854934184,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "source_upright_return_tilt_deg": 1.5950143215997596,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.1521423904452533e-07,
+            "max_target_xy_drift": 1.4531318423091445e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0076,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0076,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
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+                  0.2
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+              "source_pose_held_object": "beaker_a",
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+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0353
+            ],
+            "pour_controller_controller_event": 6,
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+            "pour_controller_source_size": [
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+              0.0603,
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+            ],
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+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.000657288515681323,
+                0.0006803374741519261,
+                -1.0001588089131146e-05
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_step_error_deg": 1.7909660650034647,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.788923235677358,
+            "pour_controller_source_return_best_wrist_position": -1.608559250831604,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.608559250831604,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013163900943104202,
+            "valid_pour_held_xy_dist": 0.008847871386513629,
+            "valid_pour_held_gripper_dist": 0.007322932557674443,
+            "valid_pour_required_height": 0.8001465090059012,
+            "valid_pour_held_z": 1.0249376720876708,
+            "valid_pour_source_tilt_deg": 1.7909426507900086,
+            "valid_pour_source_upright_tilt_deg": 1.5950143215997596,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.1521423904452533e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37235731122445537,
+              -0.02482743409178865,
+              1.0249376720876708
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3607211047070549,
+              -0.0006044984209082806,
+              1.0249376720876708
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3665392079657551,
+              -0.012715966256348465,
+              1.0249376720876708
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37235731122445537,
+              -0.0006044984209082806,
+              1.0249376720876708
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026872884374982937,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024203062276393107,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0009013398880952633,
+              -0.9996125483081602,
+              0.027819792437623447
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005816955111066464,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03760823075481826,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37235731122445537,
+              -0.02482743409178865,
+              1.0249376720876708
+            ],
+            "held_grasp_finger_b": [
+              0.3607211047070549,
+              -0.0006044984209082806,
+              1.0249376720876708
+            ],
+            "held_grasp_midpoint": [
+              0.3665392079657551,
+              -0.012715966256348465,
+              1.0249376720876708
+            ],
+            "held_grasp_object_position": [
+              0.37235731122445537,
+              -0.0006044984209082806,
+              1.0249376720876708
+            ],
+            "held_grasp_finger_gap": 0.026872884374982937,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024203062276393107,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0009013398880952633,
+              -0.9996125483081602,
+              0.027819792437623447
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005816955111066464,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03760823075481826,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2602513036207789,
+              0.21725517256241592,
+              0.7611066489820915
+            ],
+            "target_position": [
+              0.2658183475684992,
+              0.21195671074858904,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007685419696310059,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21270692479999725,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066489820915,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754992377765388,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08979156315163571,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18408508473486032,
+            "release_required_pad_clearance": 0.054895781575817856,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.855064059163521,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 258,
+            "max_placed_release_frames": 258
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12536dd89893afa3996205b2a8f781e83d5d863b89fd6da7fd2da2a9e2721149",
+    "visual_seed": 4216354420729645017,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed96414bd80a75a1d38e926150c8d4fc8d266f38
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_23_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28962516874300515,
+              0.21412789298148213,
+              1.0015221125114075
+            ],
+            "current_z": 1.0015221125114075,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1404155448919968,
+            "gripper_z": 1.0031970134767698,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2844047958460705,
+              0.2091727437172844,
+              1.0031970134767698
+            ],
+            "object_minus_gripper": [
+              0.005220372896934666,
+              0.004955149264197739,
+              -0.0016749009653622693
+            ],
+            "object_to_gripper_xy": 0.007197624428485376,
+            "object_to_gripper_z": -0.0016749009653622693,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28962516874300515,
+              0.1896552950729213,
+              1.0015221125114075
+            ],
+            "finger_b": [
+              0.2775369840663431,
+              0.21412789298148213,
+              1.0015221125114075
+            ],
+            "finger_midpoint": [
+              0.2835810764046741,
+              0.20189159402720172,
+              1.0015221125114075
+            ],
+            "object_minus_finger_midpoint": [
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+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2618488833705757,
+              0.21612311486196364,
+              0.7611068955174269
+            ],
+            "target_position": [
+              0.26503308947036325,
+              0.21125515085164617,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005816892821057501,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21137468657648054,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611068955174269,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544793945522202,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08733168681115498,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18257481132598935,
+            "release_required_pad_clearance": 0.05366584340557749,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3410531990607506,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a58203414f7d09da31cb0918a75ebacd378630fbea8351e0c4fb53005a2e621e",
+    "visual_seed": 2964283407800901207,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa5a01c779a34ddf06d3913607dd573598d4f0fc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_24_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.287468187383022,
+              0.21551512737366776,
+              1.0033598947668136
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+              0.21066368130045607,
+              1.0049212535110017
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+              0.19081706601345985,
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+              1.0033598947668136
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+              0.28164113651445954,
+              0.2031660966935638,
+              1.0033598947668136
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+              0.012349030680103956,
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+            "object_tilt_deg": 0.7852051190728762,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "xy_dist": 0.014939279394377433,
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+            "held_gripper_dist": 0.007293990458271012,
+            "max_held_gripper_dist": 0.007341784776857966,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465686105462,
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+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43182a12ac1bc8d02572b0052cfbbc62614246c73cec48bca86697e55e00221d",
+    "visual_seed": 4547095767876373620,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c604f3fc9634baa42945bae6ff868b3f755f01f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_25_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2880372086012574,
+              0.21574172972381953,
+              1.0007140738489846
+            ],
+            "current_z": 1.0007140738489846,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1396074466249292,
+            "gripper_z": 1.002083537632059,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28282494753996457,
+              0.21094091660929282,
+              1.002083537632059
+            ],
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+              0.0052122610612928555,
+              0.0048008131145267086,
+              -0.0013694637830743428
+            ],
+            "object_to_gripper_xy": 0.007086287598713544,
+            "object_to_gripper_z": -0.0013694637830743428,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2880372086012574,
+              0.19099164614951633,
+              1.0007140738489846
+            ],
+            "finger_b": [
+              0.276541162098797,
+              0.21574172972381953,
+              1.0007140738489846
+            ],
+            "finger_midpoint": [
+              0.2822891853500272,
+              0.20336668793666793,
+              1.0007140738489846
+            ],
+            "object_minus_finger_midpoint": [
+              0.005748023251230194,
+              0.012375041787151597,
+              0.0
+            ],
+            "finger_gap": 0.027289663283406883,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.050461653899509,
+            "finger_top_clearance": 0.04974758005052449,
+            "fingertip_min_top_clearance": 0.014924274015157363,
+            "object_projection_between_fingers": 0.8225399213952065,
+            "object_to_finger_line_xy": 0.010426222879890774,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780284850557397,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6366209610003539,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.36594111836020393,
+              0.014060630320243612,
+              0.7701463897966117
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+            "gripper_position": [
+              0.36220517639051486,
+              -0.000377242075917647,
+              1.0249248027738522
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+            "target_minus_gripper": [
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+              0.01443787239616126,
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+            "held_position": [
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+              0.004388454105038821,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004765696180956468,
+              -0.0014058358977990792
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+            "xy_dist": 0.014913397390558582,
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+            "held_gripper_dist": 0.007210247808367925,
+            "max_held_gripper_dist": 0.0072394153478387065,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0249248027738522,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22229867603146,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 1.2460664997907938,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8112393864900782,
+            "max_source_tilt_deg": 89.848425731204,
+            "source_upright_tilt_deg": 1.841345431052712,
+            "max_source_upright_tilt_deg": 89.93011055251243,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8112393864900782,
+            "source_upright_return_tilt_deg": 1.841345431052712,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.725290298565997e-08,
+            "max_target_xy_drift": 2.2817403078079224e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3659,
+                0.0141,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0141,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0011,
+                -0.0014
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
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+              "height_range_2": [
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+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.607562780380249
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0122,
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+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0016330124118515582,
+                -0.0010953510224098774,
+                -0.0014377723417558967
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.8413708374275042,
+            "pour_controller_source_return_step_error_deg": 1.811256028616013,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8294248231241377,
+            "pour_controller_source_return_best_wrist_position": -1.607562780380249,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.607562780380249,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014913397390558582,
+            "valid_pour_held_xy_dist": 0.00978610997854963,
+            "valid_pour_held_gripper_dist": 0.007210247808367925,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0235189668760531,
+            "valid_pour_source_tilt_deg": 1.8112393864900782,
+            "valid_pour_source_upright_tilt_deg": 1.841345431052712,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.725290298565997e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3674300628770666,
+              -0.019886148730151695,
+              1.0235189668760531
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35604026351556867,
+              0.004388454105038821,
+              1.0235189668760531
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3617351631963176,
+              -0.007748847312556437,
+              1.0235189668760531
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3674300628770666,
+              0.004388454105038821,
+              1.0235189668760531
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026813874623064417,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024409949821447164,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.012983668858998909,
+              -0.999483641519963,
+              0.029391745047784305
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005862803403307639,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03766315654265161,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3674300628770666,
+              -0.019886148730151695,
+              1.0235189668760531
+            ],
+            "held_grasp_finger_b": [
+              0.35604026351556867,
+              0.004388454105038821,
+              1.0235189668760531
+            ],
+            "held_grasp_midpoint": [
+              0.3617351631963176,
+              -0.007748847312556437,
+              1.0235189668760531
+            ],
+            "held_grasp_object_position": [
+              0.3674300628770666,
+              0.004388454105038821,
+              1.0235189668760531
+            ],
+            "held_grasp_finger_gap": 0.026813874623064417,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024409949821447164,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.012983668858998909,
+              -0.999483641519963,
+              0.029391745047784305
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005862803403307639,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03766315654265161,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2585448512543427,
+              0.2167191711170983,
+              0.7611064129861581
+            ],
+            "target_position": [
+              0.2634357305442287,
+              0.21376174728957398,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005715510119302085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21160701269703977,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064129861581,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531148137014121,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08804932546663995,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18270715190342215,
+            "release_required_pad_clearance": 0.054024662733319975,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.06066909370557,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9875513c0ac58584f9e5c43670a63295f0c66d9ed53785dfeab5e6c7b9de93d4",
+    "visual_seed": 8871552423548539842,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..02b3bb7965e95c6f76c1ff8fe9accac55d66df76
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_27_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28552829502466104,
+              0.2161738424697798,
+              1.0007805958022669
+            ],
+            "current_z": 1.0007805958022669,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.13967396857821102,
+            "gripper_z": 1.0024081131596838,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28005633317998085,
+              0.2112295693716617,
+              1.0024081131596838
+            ],
+            "object_minus_gripper": [
+              0.005471961844680184,
+              0.004944273098118096,
+              -0.0016275173574169521
+            ],
+            "object_to_gripper_xy": 0.00737483578789454,
+            "object_to_gripper_z": -0.0016275173574169521,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28552829502466104,
+              0.19127793706029225,
+              1.0007805958022669
+            ],
+            "finger_b": [
+              0.27376898755051304,
+              0.2161738424697798,
+              1.0007805958022669
+            ],
+            "finger_midpoint": [
+              0.27964864128758704,
+              0.20372588976503603,
+              1.0007805958022669
+            ],
+            "object_minus_finger_midpoint": [
+              0.005879653737073998,
+              0.012447952704743775,
+              0.0
+            ],
+            "finger_gap": 0.027533387340276612,
+            "fingertip_max_gap": 0.09102936949934373,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013766693670138306,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0007805958022669,
+            "object_top_z": 1.0507310623576869,
+            "finger_top_clearance": 0.049950466555420014,
+            "fingertip_min_top_clearance": 0.014985139966626038,
+            "object_projection_between_fingers": 0.8175918648564467,
+            "object_to_finger_line_xy": 0.010632858316318147,
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25751322688737405,
+              0.21114164906454305,
+              0.7611076544340124
+            ],
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+              0.2606106782153106,
+              0.2117389663667534,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.0031545194068915935,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21334640213108177,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611076544340124,
+            "min_z": 0.5774145980897916,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514460724034763,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08832780355072763,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18411317862182147,
+            "release_required_pad_clearance": 0.054163901775363815,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3411674100004602,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 260,
+            "max_placed_release_frames": 260
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26f77588ec5900bd57c9f287b975c36ffbd40725c96e779a1e84b227d62c6d54",
+    "visual_seed": 1227718773368670128,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa6cc916cc39b5a26c6020515df6ee99ce62c2c7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_28_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "max_source_tilt_deg": 89.95523026852985,
+            "source_upright_tilt_deg": 1.5960739434512945,
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+            "uses_reconstructed_held_tilt_axis": false,
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "80e8957f87ce874fc506a220baf28299b1805757bddb51a3ba79d0ea1207ebd4",
+    "visual_seed": 7059356850709815855,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ac02e508a2457e9080bcbc6bc81ed2c2cebd3b8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_29_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.2100941124324905,
+              1.0025697905089876
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+            "lift_margin": 0.14146334209886646,
+            "gripper_z": 1.004406697323897,
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+            "gripper_position": [
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+              0.2052061891403344,
+              1.004406697323897
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+              0.004887923292156093,
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+            "object_to_gripper_z": -0.0018369068149093337,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.18582959416436953,
+              1.0025697905089876
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+            "finger_b": [
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+              0.2100941124324905,
+              1.0025697905089876
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+            "finger_midpoint": [
+              0.28024305420696066,
+              0.19796185329843002,
+              1.0025697905089876
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+              0.012132259134060464,
+              0.0
+            ],
+            "finger_gap": 0.027099854061608603,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010805328243307932,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810073173146796,
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+            "object_tilt_deg": 0.7230081300693707,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.01064720456176259,
+              0.7701464494012564
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+              -0.002308158687827272,
+              1.025954682365357
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+              0.004637625676388275,
+              -0.001884213741407681
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+            "max_held_gripper_dist": 0.00730531755753803,
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+            "missing_held_position_samples": 0,
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+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.025954682365357,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21229244889739,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.0015407730549652,
+            "max_source_tilt_deg": 89.77621444768818,
+            "source_upright_tilt_deg": 2.9786833329716456,
+            "max_source_upright_tilt_deg": 89.70779908732432,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.0015407730549652,
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+            "target_xy_drift": 3.1664967535191546e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_tilt_deg": 0.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.0106,
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+              "controller_target_position": [
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+                0.0106,
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+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
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+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+              ],
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.0012483533271394117,
+                3.914590752799067e-05
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+              "use_preinterpolated_cartesian_targets": false
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+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.9786753046256464,
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+            "pour_controller_wrist_compensated_return_position": -1.631473422050476,
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013213533757653668,
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+            "valid_pour_held_gripper_dist": 0.007217852442289827,
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+            "valid_pour_held_z": 1.0240704686239492,
+            "valid_pour_source_tilt_deg": 3.0015407730549652,
+            "valid_pour_source_upright_tilt_deg": 2.9786833329716456,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.1664967535191546e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3762423113177856,
+              -0.021574836008667247,
+              1.0240704686239492
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36513116764226783,
+              0.0023294669885610027,
+              1.0240704686239492
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37068673948002673,
+              -0.009622684510053122,
+              1.0240704686239492
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3762423113177856,
+              0.0023294669885610027,
+              1.0240704686239492
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02636044793931421,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023684984183664087,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.016832012370839,
+              -0.9986489501171641,
+              0.04916256491919269
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005386007126242935,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037690735070462535,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3762423113177856,
+              -0.021574836008667247,
+              1.0240704686239492
+            ],
+            "held_grasp_finger_b": [
+              0.36513116764226783,
+              0.0023294669885610027,
+              1.0240704686239492
+            ],
+            "held_grasp_midpoint": [
+              0.37068673948002673,
+              -0.009622684510053122,
+              1.0240704686239492
+            ],
+            "held_grasp_object_position": [
+              0.3762423113177856,
+              0.0023294669885610027,
+              1.0240704686239492
+            ],
+            "held_grasp_finger_gap": 0.02636044793931421,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023684984183664087,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.016832012370839,
+              -0.9986489501171641,
+              0.04916256491919269
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005386007126242935,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037690735070462535,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2602613546564557,
+              0.21056686971588912,
+              0.7611067720987215
+            ],
+            "target_position": [
+              0.26180650514952347,
+              0.20624955406915305,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004585488462506431,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21414046210513057,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611067720987215,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525773532262559,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08953329429655997,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18552770059491647,
+            "release_required_pad_clearance": 0.05476664714827999,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.583323507147672,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc9036ddc2d2ef3c2a32ca5eaa64258b6f0ac0e5b568935901a11d5039264a9d",
+    "visual_seed": 205177955019377097,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..822dcc194597b8cf7b14ba2a6a7caa4311c1b9d6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_2_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2880771223434162,
+              0.2076324586691306,
+              1.0032794236555411
+            ],
+            "current_z": 1.0032794236555411,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.14217267722219606,
+            "gripper_z": 1.0049798163308021,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.282757031646535,
+              0.20267749666152882,
+              1.0049798163308021
+            ],
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+              0.005320090696881219,
+              0.0049549620076017875,
+              -0.0017003926752610088
+            ],
+            "object_to_gripper_xy": 0.007270145357544045,
+            "object_to_gripper_z": -0.0017003926752610088,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2880771223434162,
+              0.18292045429980996,
+              1.0032794236555411
+            ],
+            "finger_b": [
+              0.2762162249407598,
+              0.2076324586691306,
+              1.0032794236555411
+            ],
+            "finger_midpoint": [
+              0.282146673642088,
+              0.19527645648447028,
+              1.0032794236555411
+            ],
+            "object_minus_finger_midpoint": [
+              0.005930448701328195,
+              0.01235600218466032,
+              0.0
+            ],
+            "finger_gap": 0.02741102054184892,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01370551027092446,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0032794236555411,
+            "object_top_z": 1.0531350170860896,
+            "finger_top_clearance": 0.04985559343054846,
+            "fingertip_min_top_clearance": 0.014956678029164538,
+            "object_projection_between_fingers": 0.8127660117212555,
+            "object_to_finger_line_xy": 0.010693018451867445,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047889290732171894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8148153984172479,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
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+              "held_object": "beaker_a",
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+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26836541074563175,
+              0.20768918569541622,
+              0.7611063460297699
+            ],
+            "target_position": [
+              0.26334842282643395,
+              0.20598168622142357,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.005299596421904395,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21779345483970328,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063460297699,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585868314142179,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08768517864263005,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18662320492899584,
+            "release_required_pad_clearance": 0.053842589321315026,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.694530199835257,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0439e58458da5275e20fc169bf433db387def05a23ce9c0740b1302aaa5dd6f2",
+    "visual_seed": 4225501176488821659,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee86a83c64559348e911fd43e8668dc417903d0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_31_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
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+          "skill": "pick",
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+              1.0038874324815206
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              "failed_keys": []
+            },
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+          }
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_tilt_deg": 2.9532478719813158,
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+            "source_upright_tilt_deg": 2.871534625393802,
+            "max_source_upright_tilt_deg": 89.92782494085024,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.9532478719813158,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.938125110018416e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "adde3f4f369564bad57448204cb117cc3f4254569e6295c699edf5556511cd52",
+    "visual_seed": 121090239655690699,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..73a56758f9b96701647e3b57244c9b177e6e4bf0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_32_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+              0.20070244185104827,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+          }
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.377216100692749e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3730850484491948,
+              -0.02207600905771974,
+              1.0254373559394363
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36120964725708343,
+              0.002075955875876669,
+              1.0254373559394363
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3671473478531391,
+              -0.010000026590921536,
+              1.0254373559394363
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3730850484491948,
+              0.002075955875876669,
+              1.0254373559394363
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026913612979815087,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02428519953128484,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.012226942141770933,
+              -0.9995045850045441,
+              0.029001490319568335
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006094918868193921,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03772285014773891,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3730850484491948,
+              -0.02207600905771974,
+              1.0254373559394363
+            ],
+            "held_grasp_finger_b": [
+              0.36120964725708343,
+              0.002075955875876669,
+              1.0254373559394363
+            ],
+            "held_grasp_midpoint": [
+              0.3671473478531391,
+              -0.010000026590921536,
+              1.0254373559394363
+            ],
+            "held_grasp_object_position": [
+              0.3730850484491948,
+              0.002075955875876669,
+              1.0254373559394363
+            ],
+            "held_grasp_finger_gap": 0.026913612979815087,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02428519953128484,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.012226942141770933,
+              -0.9995045850045441,
+              0.029001490319568335
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006094918868193921,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03772285014773891,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25099749625348833,
+              0.20688218059347843,
+              0.7611066131673602
+            ],
+            "target_position": [
+              0.26055001097376895,
+              0.2114519998437509,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010589324126748546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20789953490987756,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066131673602,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571507979088002,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09475673985370632,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17698895197876616,
+            "release_required_pad_clearance": 0.05737836992685316,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 10.423310801880264,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82cc79077c0ccf5accda612b387e5242251450f4a7ea240ac122d2474d9707c0",
+    "visual_seed": 403221329973820712,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..193c739b63a23310ba6ef18207dd6c6770386e30
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_33_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2895642444701847,
+              0.21713131764817997,
+              1.0027592222899573
+            ],
+            "current_z": 1.0027592222899573,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.14165247585661245,
+            "gripper_z": 1.0044408704229169,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.284385362850893,
+              0.21216949760089965,
+              1.0044408704229169
+            ],
+            "object_minus_gripper": [
+              0.0051788816192916975,
+              0.004961820047280324,
+              -0.0016816481329595678
+            ],
+            "object_to_gripper_xy": 0.007172201406000135,
+            "object_to_gripper_z": -0.0016816481329595678,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2895642444701847,
+              0.19269367292280248,
+              1.0027592222899573
+            ],
+            "finger_b": [
+              0.27747451639098064,
+              0.21713131764817997,
+              1.0027592222899573
+            ],
+            "finger_midpoint": [
+              0.28351938043058267,
+              0.20491249528549121,
+              1.0027592222899573
+            ],
+            "object_minus_finger_midpoint": [
+              0.006044864039602027,
+              0.012218822362688758,
+              0.0
+            ],
+            "finger_gap": 0.0272646291878849,
+            "fingertip_max_gap": 0.09143319912699135,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013632314593942462,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0027592222899573,
+            "object_top_z": 1.0528507479026692,
+            "finger_top_clearance": 0.05009152561271191,
+            "fingertip_min_top_clearance": 0.015027457683813571,
+            "object_projection_between_fingers": 0.8033772006906837,
+            "object_to_finger_line_xy": 0.01083618183801636,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821659956349568,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1011927403982837,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2595267715471998,
+              0.1913036027546492,
+              0.76111101851908
+            ],
+            "target_position": [
+              0.2651038874785138,
+              0.21190217331264677,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.021340228001221578,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21242898401151455,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76111101851908,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545115652641814,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08865866053521305,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17862903543500025,
+            "release_required_pad_clearance": 0.05432933026760653,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.664524421910575,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f78e3367c23b2343039034cc210c40791ad886948a1fb3caafb5538d69969189",
+    "visual_seed": 5644160248517057155,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c873d371840916e1f4ae014e1dc8565312b801fe
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_34_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+              0.28894653703758955,
+              0.21205329118077007,
+              1.0008732416414499
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+              0.20717510858132598,
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+              1.0008732416414499
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+              0.19968604835875087,
+              1.0008732416414499
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+              1.0
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+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+            },
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+          }
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "max_wrist_deg": 120.23098667665572,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_upright_tilt_deg": 89.85460482965516,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.858073216899289,
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+            "target_xy_drift": 1.5832483770197858e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0094,
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+              "controller_target_position": [
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+                0.0094,
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+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
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+    "task_island_state_digest": "de8e10be36f606ac4ffb34e973d62730d71836b9ea5ffe8ea12e09a59f0a050f",
+    "visual_seed": 6620423116736557412,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88f4816ab342335d0ca92fb4ef2a2d67628144a3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_35_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.20316855456403482,
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+              0.0
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            "valid_pour_held_grasp_object_position": [
+              0.36842518999706814,
+              0.00838291665187051,
+              1.0246005015834123
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02685762752507986,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024223726682599582,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.006478831599946481,
+              -0.9996010109368123,
+              0.0274926112838072
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005642482953507926,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037534380171382276,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36842518999706814,
+              -0.015924514987520365,
+              1.0246005015834123
+            ],
+            "held_grasp_finger_b": [
+              0.35700236533010127,
+              0.00838291665187051,
+              1.0246005015834123
+            ],
+            "held_grasp_midpoint": [
+              0.3627137776635847,
+              -0.0037707991678249276,
+              1.0246005015834123
+            ],
+            "held_grasp_object_position": [
+              0.36842518999706814,
+              0.00838291665187051,
+              1.0246005015834123
+            ],
+            "held_grasp_finger_gap": 0.02685762752507986,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024223726682599582,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.006478831599946481,
+              -0.9996010109368123,
+              0.0274926112838072
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005642482953507926,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037534380171382276,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2631040613095049,
+              0.21967193244205746,
+              0.7611177254684375
+            ],
+            "target_position": [
+              0.25682180878844535,
+              0.21072875072008115,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010929190091248778,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22099763012991844,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611177254684375,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756922645281154,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0887663347856663,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1914026028952286,
+            "release_required_pad_clearance": 0.05438316739283315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.785580542354625,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 271,
+            "max_placed_release_frames": 271
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ed1de9a786dfb2474b2d787c05fe598bbf5af7ec1f2e1f0913dee72d16fdf4bf",
+    "visual_seed": 8613510774816073164,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..719c51f22982488b7ef8af8a78a75cd84c91659a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_36_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28178553178177435,
+              0.21349486928677855,
+              1.0031404968728168
+            ],
+            "current_z": 1.0031404968728168,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1420338696487613,
+            "gripper_z": 1.0049273540301167,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2763089898537868,
+              0.2084388887409692,
+              1.0049273540301167
+            ],
+            "object_minus_gripper": [
+              0.005476541927987522,
+              0.005055980545809358,
+              -0.0017868571572998704
+            ],
+            "object_to_gripper_xy": 0.007453552895673846,
+            "object_to_gripper_z": -0.0017868571572998704,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28178553178177435,
+              0.18876388306852537,
+              1.0031404968728168
+            ],
+            "finger_b": [
+              0.26963606085098574,
+              0.21349486928677855,
+              1.0031404968728168
+            ],
+            "finger_midpoint": [
+              0.27571079631638007,
+              0.20112937617765198,
+              1.0031404968728168
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060747354653942764,
+              0.012365493109126574,
+              0.0
+            ],
+            "finger_gap": 0.027554152558652678,
+            "fingertip_max_gap": 0.09178284389009467,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013777076279326315,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0031404968728168,
+            "object_top_z": 1.0530901015037593,
+            "finger_top_clearance": 0.049949604630942446,
+            "fingertip_min_top_clearance": 0.014984881389282766,
+            "object_projection_between_fingers": 0.8055801448352065,
+            "object_to_finger_line_xy": 0.010904650306657552,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048391421945047336,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3682472388556046,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
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+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24530763049164944,
+              0.21553287540995872,
+              0.7611074347103405
+            ],
+            "target_position": [
+              0.25669653740408027,
+              0.21210311492389697,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01189413543103345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2074741683237072,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611074347103405,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533103462307222,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505655975389588,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17896145982416456,
+            "release_required_pad_clearance": 0.05252827987694794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1251107896338707,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 268,
+            "max_placed_release_frames": 268
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d9bcc496875b6277927a495ee6944afd783e48fa07eb7fbcbdf2f18374147bdf",
+    "visual_seed": 6874821434051533005,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_37_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e4a75ba8ccdd866c89ff1d286c532668d59665b
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_37_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2890345143836645,
+              0.21044064928649903,
+              1.0010958313444125
+            ],
+            "current_z": 1.0010958313444125,
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+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.13998908491106754,
+            "gripper_z": 1.002748665130858,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2839206860801907,
+              0.20553691728444268,
+              1.002748665130858
+            ],
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+              0.004903732002056349,
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+            "object_to_gripper_xy": 0.007085042516837932,
+            "object_to_gripper_z": -0.001652833786445429,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2890345143836645,
+              0.18598488368013272,
+              1.0010958313444125
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+            "finger_b": [
+              0.27708809220563496,
+              0.21044064928649903,
+              1.0010958313444125
+            ],
+            "finger_midpoint": [
+              0.28306130329464974,
+              0.19821276648331587,
+              1.0010958313444125
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+              0.005973211089014774,
+              0.012227882803183154,
+              0.0
+            ],
+            "finger_gap": 0.02721766842051768,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04805579600577782,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9449539263394812,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.015196100665859958,
+              0.7701463897966115
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+              0.0005941397192053138,
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+            "held_minus_gripper": [
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+              0.0047937223928804385,
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+            "max_held_gripper_dist": 0.007324208224645547,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966115,
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+            "gripper_z": 1.025395808238554,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21111765636014,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.4265546908999595,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.936073896306156,
+            "max_source_tilt_deg": 89.84124172430793,
+            "source_upright_tilt_deg": 3.00588059706724,
+            "max_source_upright_tilt_deg": 89.80709220112082,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.936073896306156,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.6267145679795076e-08,
+            "max_target_xy_drift": 1.5876250220358397e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3677,
+                0.0152,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0152,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
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+                  0.3,
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+                  0.0009814730448768293,
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "source_return_effective_target_deg": 8.0,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6313410997390747
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3677,
+              0.0152,
+              0.7701
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0006,
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+              0.3686,
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+            "pour_controller_controller_t": 0.0,
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+              0.0603,
+              0.0904
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0009814730448768293,
+                -0.0005814421220676387,
+                -0.0007836874040999607
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.0058826731637094,
+            "pour_controller_source_return_step_error_deg": 2.936078288305022,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.991964728964348,
+            "pour_controller_source_return_best_wrist_position": -1.6313410997390747,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6313410997390747,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014683054970517372,
+            "valid_pour_held_xy_dist": 0.010461431067307412,
+            "valid_pour_held_gripper_dist": 0.007259582737842643,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0236951782304016,
+            "valid_pour_source_tilt_deg": 2.936073896306156,
+            "valid_pour_source_upright_tilt_deg": 3.00588059706724,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.6267145679795076e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3712982902677275,
+              -0.018332285060233794,
+              1.0236951782304016
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35973777325877754,
+              0.005387862112085752,
+              1.0236951782304016
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3655180317632525,
+              -0.006472211474074021,
+              1.0236951782304016
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3712982902677275,
+              0.005387862112085752,
+              1.0236951782304016
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026387325279207816,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023830651174517447,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.012381700233481714,
+              -0.9986241715233088,
+              0.050955446703106574
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00595721020407719,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03794806333898522,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3712982902677275,
+              -0.018332285060233794,
+              1.0236951782304016
+            ],
+            "held_grasp_finger_b": [
+              0.35973777325877754,
+              0.005387862112085752,
+              1.0236951782304016
+            ],
+            "held_grasp_midpoint": [
+              0.3655180317632525,
+              -0.006472211474074021,
+              1.0236951782304016
+            ],
+            "held_grasp_object_position": [
+              0.3712982902677275,
+              0.005387862112085752,
+              1.0236951782304016
+            ],
+            "held_grasp_finger_gap": 0.026387325279207816,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023830651174517447,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.012381700233481714,
+              -0.9986241715233088,
+              0.050955446703106574
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00595721020407719,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03794806333898522,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26919831837601327,
+              0.2043979684292425,
+              0.761109800044344
+            ],
+            "target_position": [
+              0.2644684065472232,
+              0.20562078614186877,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0048854220970598605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21704828025012737,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761109800044344,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570806673743855,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584368901950944,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18579305720768452,
+            "release_required_pad_clearance": 0.05292184450975472,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.869486864151547,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4e9942f84aaee06858352d904a8b60e6529c5b10865935be403f2372f5dbf518",
+    "visual_seed": 980591144277092479,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f69875011da8da74fcc282ba7f018940a9d0aa9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_38_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+                "fr3_rightfinger",
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+                "gripper",
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+                "joint3",
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+                "panda_joint1",
+                "panda_joint2",
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+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
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+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005902042680029923,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03761173310607218,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3726295132698346,
+              -0.020026451877069418,
+              1.0259662447195395
+            ],
+            "held_grasp_finger_b": [
+              0.36111415026187577,
+              0.004329195892075043,
+              1.0259662447195395
+            ],
+            "held_grasp_midpoint": [
+              0.3668718317658552,
+              -0.007848627992497187,
+              1.0259662447195395
+            ],
+            "held_grasp_object_position": [
+              0.3726295132698346,
+              0.004329195892075043,
+              1.0259662447195395
+            ],
+            "held_grasp_finger_gap": 0.026940697159867612,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02447082182137626,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.011019535083483169,
+              -0.9995188017767157,
+              0.02899542621487694
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005902042680029923,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03761173310607218,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2582854127419857,
+              0.20393059868283658,
+              0.7611065280252702
+            ],
+            "target_position": [
+              0.2637926918004121,
+              0.20774109021748763,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006697011898080316,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2117300757989642,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065280252702,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576350158962875,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637279521597845,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18041613492628278,
+            "release_required_pad_clearance": 0.053186397607989225,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3960309251723002,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8079adafd6eb21c97cd4cc7105ea7b08c7cd52218445f003bda566628690061",
+    "visual_seed": 1925114004932908921,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56df84db76562355ee3ee717990c2cf59a3d25a1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_39_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.28941620274587254,
+              0.21039366126925413,
+              1.0036604840753247
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+            "gripper_z": 1.0051624236170487,
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+            "gripper_position": [
+              0.2842032588166082,
+              0.20554502051579973,
+              1.0051624236170487
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+              0.004848640753454397,
+              -0.0015019395417239512
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+            "object_to_gripper_z": -0.0015019395417239512,
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+              0.28941620274587254,
+              0.18571094742011526,
+              1.0036604840753247
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+              0.21039366126925413,
+              1.0036604840753247
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+              0.28358942540352916,
+              0.19805230434468468,
+              1.0036604840753247
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+              0.012341356924569447,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010538068965988636,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
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+            "object_z": 0.7611097124066941,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557395060681824,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09217085452539721,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18362071866165103,
+            "release_required_pad_clearance": 0.056085427262698606,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.423340667489745,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 261,
+            "max_placed_release_frames": 261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81259543c594efe9f6fc35515ff04ffd128ad181171c515be98182d307fc5c4c",
+    "visual_seed": 198459828420116599,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2f5684bf0994e6c25285c8ebd2f9ed163800df
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_3_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2857028913231512,
+              0.21250147063332683,
+              1.0009682344119306
+            ],
+            "current_z": 1.0009682344119306,
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+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.13986166679251977,
+            "gripper_z": 1.0026745868502545,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28043473275495023,
+              0.20762609558907696,
+              1.0026745868502545
+            ],
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+              0.004875375044249869,
+              -0.0017063524383238438
+            ],
+            "object_to_gripper_xy": 0.0071779367872532515,
+            "object_to_gripper_z": -0.0017063524383238438,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2857028913231512,
+              0.1877409841115311,
+              1.0009682344119306
+            ],
+            "finger_b": [
+              0.274068414028876,
+              0.21250147063332683,
+              1.0009682344119306
+            ],
+            "finger_midpoint": [
+              0.2798856526760136,
+              0.20012122737242896,
+              1.0009682344119306
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012380243260897872,
+              0.0
+            ],
+            "finger_gap": 0.027357681822607588,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010529960838823058,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047779994751629265,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5838303101626762,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.00691625834130503,
+              0.7701464494012564
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+              -0.00700596106886138,
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+              0.004764743825311122,
+              -0.0017423231704383202
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+            "max_held_gripper_dist": 0.007422803646239948,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.0274459093711328,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22542690267133,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 1.011271097286774,
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+            "source_tilt_deg": 2.0391875300189883,
+            "max_source_tilt_deg": 89.83436710407096,
+            "source_upright_tilt_deg": 1.5506395749474142,
+            "max_source_upright_tilt_deg": 89.89606567507417,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0391875300189883,
+            "source_upright_return_tilt_deg": 1.5506395749474142,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.41936196238838e-08,
+            "max_target_xy_drift": 1.2665987014770508e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3683,
+                0.0069,
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+              ],
+              "controller_target_position": [
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+                0.0069,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
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+              "source_pose_held_object": "beaker_a",
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.608267068862915
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0003,
+              0.0014
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+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0186,
+              1.0367
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0010451815241373419,
+                -0.00027267980771455047,
+                0.0013813987775078006
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.5506641049144227,
+            "pour_controller_source_return_step_error_deg": 2.039206612133596,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.044652511661998,
+            "pour_controller_source_return_best_wrist_position": -1.608267068862915,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.608267068862915,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014351911463246792,
+            "valid_pour_held_xy_dist": 0.009343837900645281,
+            "valid_pour_held_gripper_dist": 0.007367498979185466,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.0257035862006945,
+            "valid_pour_source_tilt_deg": 2.0391875300189883,
+            "valid_pour_source_upright_tilt_deg": 1.5506395749474142,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.41936196238838e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3701613671296786,
+              -0.02667527544372081,
+              1.0257035862006945
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35890581209650513,
+              -0.0022412172435502583,
+              1.0257035862006945
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3645335896130919,
+              -0.014458246343635534,
+              1.0257035862006945
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3701613671296786,
+              -0.0022412172435502583,
+              1.0257035862006945
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026901872039583392,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02442179384676886,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.00029467618488444343,
+              -0.9996338058413198,
+              0.027058591706606953
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005633885364082224,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.0375060364026947,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3701613671296786,
+              -0.02667527544372081,
+              1.0257035862006945
+            ],
+            "held_grasp_finger_b": [
+              0.35890581209650513,
+              -0.0022412172435502583,
+              1.0257035862006945
+            ],
+            "held_grasp_midpoint": [
+              0.3645335896130919,
+              -0.014458246343635534,
+              1.0257035862006945
+            ],
+            "held_grasp_object_position": [
+              0.3701613671296786,
+              -0.0022412172435502583,
+              1.0257035862006945
+            ],
+            "held_grasp_finger_gap": 0.026901872039583392,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02442179384676886,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.00029467618488444343,
+              -0.9996338058413198,
+              0.027058591706606953
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005633885364082224,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0375060364026947,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2609531475046814,
+              0.20870632568557898,
+              0.7611063325097733
+            ],
+            "target_position": [
+              0.26104061843340975,
+              0.21079651497780338,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0020920187476937565,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21380372568650852,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063325097733,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536727431083369,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08787315616594878,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18317095123456098,
+            "release_required_pad_clearance": 0.05393657808297439,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.883415880406082,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f863ee03afe25c2bbd16136d9524f92424445db9be61f9b54400dddff55262c",
+    "visual_seed": 7007361062581766948,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4c7b9b372e306a889e09e20f95184db1d23cdf6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_40_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2822179392569644,
+              0.20894174416446368,
+              1.001065988991685
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+              1.0235806914444951
+            ],
+            "held_grasp_object_position": [
+              0.3708810054122889,
+              0.0012613642363930432,
+              1.0235806914444951
+            ],
+            "held_grasp_finger_gap": 0.026802408183327273,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02411407629325994,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011109502008412476,
+              -0.9995468186557883,
+              0.02797742447435081
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005580949864314933,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03753643828074008,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24852485877123554,
+              0.20253755394487807,
+              0.7611076006047843
+            ],
+            "target_position": [
+              0.2575727878338024,
+              0.20637682476948027,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009828785315891455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20853029024666242,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611076006047843,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757468297626408,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08911219347539558,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17793535790641193,
+            "release_required_pad_clearance": 0.05455609673769779,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.146786116371742,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 253,
+            "max_placed_release_frames": 253
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db523b538cfd35d8b1730d686fb72a5cc0aeef33a1ed5abba9cbb0318d0b63d7",
+    "visual_seed": 222767464314058191,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..487e44c085b8c728a23206c8e6919fc8ed8116ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_41_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28570294486107206,
+              0.2114882024041926,
+              1.0031056162811454
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+            "current_z": 1.0031056162811454,
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+            "lift_margin": 0.14199922747566895,
+            "gripper_z": 1.0051059993802998,
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+            "gripper_position": [
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+              0.20673825093710835,
+              1.0051059993802998
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+              0.004749951467084262,
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+            "object_to_gripper_z": -0.0020003830991544014,
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+              0.28570294486107206,
+              0.1867156436414728,
+              1.0031056162811454
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+            "finger_b": [
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+              0.2114882024041926,
+              1.0031056162811454
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+            "finger_midpoint": [
+              0.2799534661776395,
+              0.1991019230228327,
+              1.0031056162811454
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+              0.012386279381359916,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010430073564196127,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3641582838303272,
+              0.01049768072240807,
+              0.7701465090059014
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+            "gripper_position": [
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+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 268,
+            "max_placed_release_frames": 268
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29d0a93d61f109a4b41111e12fd880d83fecd88912debe0b838e881126495309",
+    "visual_seed": 6355699924079539404,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_42_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6248a13899c4d844ec537f34eb910728a5aa515a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_42_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.28941425471946863,
+              0.21697434829656745,
+              1.001164039623638
+            ],
+            "current_z": 1.001164039623638,
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+            "lift_margin": 0.14005753160887213,
+            "gripper_z": 1.0025056313826626,
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+            "gripper_position": [
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+              0.21202929388812838,
+              1.0025056313826626
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+              0.004945054408439065,
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+            "object_to_gripper_z": -0.0013415917590244852,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28941425471946863,
+              0.19213987813655642,
+              1.001164039623638
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+            "finger_b": [
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+              0.21697434829656745,
+              1.001164039623638
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+              0.20455711321656195,
+              1.001164039623638
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+              0.012417235080005501,
+              0.0
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+            "object_to_finger_line_xy": 0.010651850763840547,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.015187939486138599,
+              0.7701464494012564
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+              0.0017217196426629472,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21947780790424,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "max_source_tilt_deg": 89.95481450773389,
+            "source_upright_tilt_deg": 1.762033895650264,
+            "max_source_upright_tilt_deg": 89.91478775989631,
+            "uses_end_effector_tilt_evidence": false,
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 1.5127614516203815e-07,
+            "max_target_xy_drift": 1.9301758658685973e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              ],
+              "controller_target_minus_raw_target": [
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+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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+              0.0002,
+              0.0008
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3687,
+              -0.0098,
+              1.0361
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.00017768077119525256,
+                0.00019426939236056413,
+                0.0007503584920313853
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.7620524701786715,
+            "pour_controller_source_return_step_error_deg": 1.7992174329466337,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.818707860256403,
+            "pour_controller_source_return_best_wrist_position": -1.6081894636154175,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6081894636154175,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013681028575651847,
+            "valid_pour_held_xy_dist": 0.009083142523148721,
+            "valid_pour_held_gripper_dist": 0.007459360440293567,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.0254610286910282,
+            "valid_pour_source_tilt_deg": 1.799187856062118,
+            "valid_pour_source_upright_tilt_deg": 1.762033895650264,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.5127614516203815e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37157165905846873,
+              -0.01773682374608225,
+              1.0254610286910282
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35991792620306057,
+              0.006626363006751955,
+              1.0254610286910282
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36574479263076465,
+              -0.005555230369665148,
+              1.0254610286910282
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37157165905846873,
+              0.006626363006751955,
+              1.0254610286910282
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027006931669826838,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024513031527093162,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.013846603074622432,
+              -0.9995271620644526,
+              0.027454032102328774
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006004240851649586,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037625098919735006,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37157165905846873,
+              -0.01773682374608225,
+              1.0254610286910282
+            ],
+            "held_grasp_finger_b": [
+              0.35991792620306057,
+              0.006626363006751955,
+              1.0254610286910282
+            ],
+            "held_grasp_midpoint": [
+              0.36574479263076465,
+              -0.005555230369665148,
+              1.0254610286910282
+            ],
+            "held_grasp_object_position": [
+              0.37157165905846873,
+              0.006626363006751955,
+              1.0254610286910282
+            ],
+            "held_grasp_finger_gap": 0.027006931669826838,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024513031527093162,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.013846603074622432,
+              -0.9995271620644526,
+              0.027454032102328774
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006004240851649586,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037625098919735006,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2544369827801097,
+              0.21503433486754273,
+              0.7611064547373954
+            ],
+            "target_position": [
+              0.26464533415383973,
+              0.21467236617453375,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010214766718053568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2100107412829868,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064547373954,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525090479666345,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08818855271884517,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18119110428032664,
+            "release_required_pad_clearance": 0.054094276359422586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.201177792060688,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 262,
+            "max_placed_release_frames": 262
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "274365edf890846d125d3059c0881a9f02930b7c6c36b2bab35b0f80057118af",
+    "visual_seed": 4618406819332648273,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d94417d0f1eec39e35cc02796b599a239ab4256
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_43_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29051494600211886,
+              0.2124582013722696,
+              1.004097239893558
+            ],
+            "current_z": 1.004097239893558,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14299073187879197,
+            "gripper_z": 1.0056234388911856,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28529659948491815,
+              0.2074846916335385,
+              1.0056234388911856
+            ],
+            "object_minus_gripper": [
+              0.0052183465172007115,
+              0.004973509738731091,
+              -0.0015261989976276258
+            ],
+            "object_to_gripper_xy": 0.0072088098528698755,
+            "object_to_gripper_z": -0.0015261989976276258,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29051494600211886,
+              0.1879548335332374,
+              1.004097239893558
+            ],
+            "finger_b": [
+              0.2784519028795694,
+              0.2124582013722696,
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+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03787905213680082,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2645615931308281,
+              0.21603718641687158,
+              0.7611063988970808
+            ],
+            "target_position": [
+              0.2659756428919921,
+              0.20956687686294448,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006623023663757237,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21431373544172116,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063988970808,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573122668368298,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08738442358371575,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18504370488457608,
+            "release_required_pad_clearance": 0.053692211791857875,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.393952009457457,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "112814bfed74e2d5903170b4734f2e770dcc9739cee00d1c2c3f8641518bf637",
+    "visual_seed": 1662472166042082767,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f923de33b172efd2d53bc3fc4a1a501bdcdfca48
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_46_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.21101490037021656,
+              1.0026568250156729
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+              0.2060856898488081,
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+              0.18653333817061152,
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+              0.21101490037021656,
+              1.0026568250156729
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+              0.28090444619772914,
+              0.19877411927041405,
+              1.0026568250156729
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+              0.012240781099802506,
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+            "object_to_finger_line_xy": 0.010777815725077371,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701464494012562
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+            "held_minus_gripper": [
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+              0.00474105763546641,
+              -0.0019357913457436204
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+            "xy_dist": 0.013945128342784562,
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "381e1e34d3638f2459ff273c04e08960ade2c7f21c3a21c4f3e945bafa67a0d0",
+    "visual_seed": 70034014072049686,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6215842473b5534133d89755d57a82a8c407dbcd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_47_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2895469956964543,
+              0.21110616911832006,
+              1.0036324605993725
+            ],
+            "current_z": 1.0036324605993725,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.14252571416602744,
+            "gripper_z": 1.0048035408095417,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28431209273018143,
+              0.2062200124697161,
+              1.0048035408095417
+            ],
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+              0.005234902966272881,
+              0.004886156648603951,
+              -0.0011710802101692064
+            ],
+            "object_to_gripper_xy": 0.007160917249974978,
+            "object_to_gripper_z": -0.0011710802101692064,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2895469956964543,
+              0.18649619744648713,
+              1.0036324605993725
+            ],
+            "finger_b": [
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+              0.21110616911832006,
+              1.0036324605993725
+            ],
+            "finger_midpoint": [
+              0.2836330897853514,
+              0.1988011832824036,
+              1.0036324605993725
+            ],
+            "object_minus_finger_midpoint": [
+              0.005913905911102912,
+              0.012304985835916465,
+              0.0
+            ],
+            "finger_gap": 0.027304721902812572,
+            "fingertip_max_gap": 0.09086832951260945,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0535190483273382,
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+            "fingertip_min_top_clearance": 0.014965976318389683,
+            "object_projection_between_fingers": 0.8123565982819286,
+            "object_to_finger_line_xy": 0.010660504616026642,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793416475630473,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5449038670745927,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3706794492012685,
+              0.00799987916522481,
+              0.7701465090059013
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+            "gripper_position": [
+              0.3682176776558286,
+              -0.007084440503793046,
+              1.0245400012292079
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+              0.002461771545439917,
+              0.015084319669017856,
+              -0.25439349222330654
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+            "held_position": [
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+              -0.0022569072886780613,
+              1.0233205216646413
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+            "held_minus_target": [
+              0.002799123485612398,
+              -0.01025678645390287,
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+            "held_minus_gripper": [
+              0.005260895031052315,
+              0.004827533215114985,
+              -0.0012194795645665835
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+            "held_xy_dist": 0.010631874747600835,
+            "held_gripper_dist": 0.007243564307658548,
+            "max_held_gripper_dist": 0.0072681434153924135,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059013,
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+            "gripper_z": 1.0245400012292079,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22532444983378,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.5184782046747274,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.982623856743756,
+            "max_source_tilt_deg": 89.96522191372591,
+            "source_upright_tilt_deg": 2.995585915840205,
+            "max_source_upright_tilt_deg": 89.7030306983178,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.982623856743756,
+            "source_upright_return_tilt_deg": 2.995585915840205,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 1.8671101460071903e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3707,
+                0.008,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.3707,
+                0.008,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0016,
+                -0.0019
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+              "controller_last_pour_pose_position": [
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+                1.0335
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
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+              "height_range_2": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6323829889297485
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0019
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+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0188,
+              1.0335
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                9.898794487402454e-07,
+                -0.0016100869411597642,
+                -0.0018965920771424677
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.995579745749211,
+            "pour_controller_source_return_step_error_deg": 2.982617110049938,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.9809566143592057,
+            "pour_controller_source_return_best_wrist_position": -1.6323829889297485,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6323829889297485,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.015283881019526964,
+            "valid_pour_held_xy_dist": 0.010631874747600835,
+            "valid_pour_held_gripper_dist": 0.007243564307658548,
+            "valid_pour_required_height": 0.8001465090059013,
+            "valid_pour_held_z": 1.0233205216646413,
+            "valid_pour_source_tilt_deg": 2.982623856743756,
+            "valid_pour_source_upright_tilt_deg": 2.995585915840205,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 0.0,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3734785726868809,
+              -0.02605024083587459,
+              1.0233205216646413
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3619269547998621,
+              -0.0022569072886780613,
+              1.0233205216646413
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3677027637433715,
+              -0.014153574062276325,
+              1.0233205216646413
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3734785726868809,
+              -0.0022569072886780613,
+              1.0233205216646413
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02644924568103674,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023887859362019623,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.010997382821805141,
+              -0.9986335773746384,
+              0.051088508600298
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005937315047361364,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037903357953200004,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3734785726868809,
+              -0.02605024083587459,
+              1.0233205216646413
+            ],
+            "held_grasp_finger_b": [
+              0.3619269547998621,
+              -0.0022569072886780613,
+              1.0233205216646413
+            ],
+            "held_grasp_midpoint": [
+              0.3677027637433715,
+              -0.014153574062276325,
+              1.0233205216646413
+            ],
+            "held_grasp_object_position": [
+              0.3734785726868809,
+              -0.0022569072886780613,
+              1.0233205216646413
+            ],
+            "held_grasp_finger_gap": 0.02644924568103674,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023887859362019623,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.010997382821805141,
+              -0.9986335773746384,
+              0.051088508600298
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005937315047361364,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037903357953200004,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2620866370764534,
+              0.20242787609544327,
+              0.7611064442376962
+            ],
+            "target_position": [
+              0.26494430938506225,
+              0.20629666987558698,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004809766765308731,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21267750024470916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064442376962,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755224656974087,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08809935543860849,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18176449760213811,
+            "release_required_pad_clearance": 0.054049677719304245,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1113993641651327,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ecb891a2018abc7170b1057b483fd29e0fe20ca1000523da1b983c61c4c4b3b5",
+    "visual_seed": 5085175833447597678,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91060dc6eaa3ea91b5e7acc503088bf19129043e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_48_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28803175362183797,
+              0.2124010061256268,
+              1.0006886741496035
+            ],
+            "current_z": 1.0006886741496035,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1395819873209032,
+            "gripper_z": 1.0022062940068381,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28276488285756723,
+              0.20760971709182788,
+              1.0022062940068381
+            ],
+            "object_minus_gripper": [
+              0.005266870764270737,
+              0.004791289033798912,
+              -0.0015176198572346422
+            ],
+            "object_to_gripper_xy": 0.00712013892090116,
+            "object_to_gripper_z": -0.0015176198572346422,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28803175362183797,
+              0.1875709496520612,
+              1.0006886741496035
+            ],
+            "finger_b": [
+              0.2766051660219263,
+              0.2124010061256268,
+              1.0006886741496035
+            ],
+            "finger_midpoint": [
+              0.28231845982188214,
+              0.19998597788884398,
+              1.0006886741496035
+            ],
+            "object_minus_finger_midpoint": [
+              0.005713293799955832,
+              0.01241502823678281,
+              0.0
+            ],
+            "finger_gap": 0.027333104628982627,
+            "fingertip_max_gap": 0.09133398924368144,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013666552314491327,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0006886741496035,
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+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2660844351800778,
+              0.21231770218170093,
+              0.7611066832810539
+            ],
+            "target_position": [
+              0.2633325266713412,
+              0.21018037445618784,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0034844182077792742,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2171046976913338,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066832810539,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556491003084327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08905394690731346,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1869656163648209,
+            "release_required_pad_clearance": 0.05452697345365673,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.087077822737731,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4127ceb819f9ebdbb3e42eaf8b783b137fd2aba063546875133b505309c97fb9",
+    "visual_seed": 791848947770908808,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a40ac31d2ac758a8fcece082c067d89fb116782
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_49_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.19977663524829253,
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+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+        },
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "max_wrist_deg": 120.22132878916932,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d28d445e65a13c661781d26325e4ea328ff7fe08389d6ca6ad62c30d2b71e29",
+    "visual_seed": 5952297022283392179,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb488ee86718d3870832b6d49ff1124f093cbdf1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_4_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2841979250021783,
+              0.21567281495113197,
+              1.000927324676844
+            ],
+            "current_z": 1.000927324676844,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.13982075705743335,
+            "gripper_z": 1.0021991329999793,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27898364561433253,
+              0.21089006697412643,
+              1.0021991329999793
+            ],
+            "object_minus_gripper": [
+              0.005214279387845744,
+              0.004782747977005536,
+              -0.0012718083231353372
+            ],
+            "object_to_gripper_xy": 0.007075548582694033,
+            "object_to_gripper_z": -0.0012718083231353372,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2841979250021783,
+              0.19087417666974346,
+              1.000927324676844
+            ],
+            "finger_b": [
+              0.2727851363675935,
+              0.21567281495113197,
+              1.000927324676844
+            ],
+            "finger_midpoint": [
+              0.27849153068488586,
+              0.20327349581043772,
+              1.000927324676844
+            ],
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+              0.005706394317292418,
+              0.012399319140694254,
+              0.0
+            ],
+            "finger_gap": 0.027298794937301814,
+            "fingertip_max_gap": 0.09088718795362136,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0508059808911772,
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+            "object_projection_between_fingers": 0.8252180437259627,
+            "object_to_finger_line_xy": 0.01036754984170679,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794359397681068,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.36509783184592165,
+              0.015255766777925273,
+              0.7701463897966118
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+            "gripper_position": [
+              0.36170269750346673,
+              0.001654870880833853,
+              1.0273891495136778
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+            "target_minus_gripper": [
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+              0.01360089589709142,
+              -0.257242759717066
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+              0.006416546183612409,
+              1.0260814845385284
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+            "held_minus_target": [
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+              -0.008839220594312865,
+              0.25593509474191667
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+              0.004761675302778556,
+              -0.0013076649751493363
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+            "xy_dist": 0.014018249049251303,
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+            "held_gripper_dist": 0.007181678300521035,
+            "max_held_gripper_dist": 0.007206151938706622,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966118,
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+            "gripper_z": 1.0273891495136778,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21597392086002,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 1.7959611392564996,
+            "max_source_tilt_deg": 89.95128775965293,
+            "source_upright_tilt_deg": 1.8518806211556282,
+            "max_source_upright_tilt_deg": 89.81981493019885,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.7959611392564996,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.793549740543013e-08,
+            "max_target_xy_drift": 1.973898594979646e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3651,
+                0.0153,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
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+                  1.0,
+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
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+                  0.2,
+                  0.2
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+                "pour_pose_offset_m": [
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6072196960449219
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              0.0014
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0368
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0011402405308622385,
+                0.0004315968257711661,
+                0.0014290106051585909
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+              "use_preinterpolated_cartesian_targets": false
+            },
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+            "pour_controller_source_pose_feedback_error": null,
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+            "pour_controller_source_return_step_error_deg": 1.7959717096479877,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8648221971787762,
+            "pour_controller_source_return_best_wrist_position": -1.6072196960449219,
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+            "pour_controller_wrist_compensated_return_position": -1.6072196960449219,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014018249049251303,
+            "valid_pour_held_xy_dist": 0.009024555044416143,
+            "valid_pour_held_gripper_dist": 0.007181678300521035,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.0260814845385284,
+            "valid_pour_source_tilt_deg": 1.7959611392564996,
+            "valid_pour_source_upright_tilt_deg": 1.8518806211556282,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.793549740543013e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36691738482255415,
+              -0.01787941716544501,
+              1.0260814845385284
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35556174415855374,
+              0.006416546183612409,
+              1.0260814845385284
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36123956449055394,
+              -0.005731435490916301,
+              1.0260814845385284
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36691738482255415,
+              0.006416546183612409,
+              1.0260814845385284
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02681873244485356,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024454648382017136,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01509156785947992,
+              -0.9994777161733985,
+              0.028575154458905794
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00587070503826522,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03766430030075513,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36691738482255415,
+              -0.01787941716544501,
+              1.0260814845385284
+            ],
+            "held_grasp_finger_b": [
+              0.35556174415855374,
+              0.006416546183612409,
+              1.0260814845385284
+            ],
+            "held_grasp_midpoint": [
+              0.36123956449055394,
+              -0.005731435490916301,
+              1.0260814845385284
+            ],
+            "held_grasp_object_position": [
+              0.36691738482255415,
+              0.006416546183612409,
+              1.0260814845385284
+            ],
+            "held_grasp_finger_gap": 0.02681873244485356,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024454648382017136,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01509156785947992,
+              -0.9994777161733985,
+              0.028575154458905794
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00587070503826522,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03766430030075513,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2479855252232483,
+              0.21319843198552518,
+              0.7611066300049246
+            ],
+            "target_position": [
+              0.259522064496994,
+              0.21224515527524493,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.011575857415372731,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20769144839410822,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066300049246,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587717510124978,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08557783460124409,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17811045673089473,
+            "release_required_pad_clearance": 0.052788917300622046,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6243203781825881,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 266,
+            "max_placed_release_frames": 266
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6007fa996b1d19921377cdc6372d1d9a69bdde716c44af5e33993780e06c4950",
+    "visual_seed": 1005530502304249970,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c2d886acae19f4a5595534c332f1cea70bf7a3e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_50_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2898857235076716,
+              0.21661640439702243,
+              1.001139855015245
+            ],
+            "current_z": 1.001139855015245,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.1400331085819002,
+            "gripper_z": 1.0026294457658387,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2845348098054463,
+              0.21164640459980416,
+              1.0026294457658387
+            ],
+            "object_minus_gripper": [
+              0.005350913702225291,
+              0.004969999797218266,
+              -0.0014895907505936279
+            ],
+            "object_to_gripper_xy": 0.007302956622698233,
+            "object_to_gripper_z": -0.0014895907505936279,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2898857235076716,
+              0.19196827893865784,
+              1.001139855015245
+            ],
+            "finger_b": [
+              0.2778639870398545,
+              0.21661640439702243,
+              1.001139855015245
+            ],
+            "finger_midpoint": [
+              0.28387485527376305,
+              0.20429234166784013,
+              1.001139855015245
+            ],
+            "object_minus_finger_midpoint": [
+              0.006010868233908562,
+              0.012324062729182295,
+              0.0
+            ],
+            "finger_gap": 0.027423570816232607,
+            "fingertip_max_gap": 0.09104096910119205,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013711785408116304,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.001139855015245,
+            "object_top_z": 1.0511360039876578,
+            "finger_top_clearance": 0.04999614897241278,
+            "fingertip_min_top_clearance": 0.014998844691723833,
+            "object_projection_between_fingers": 0.8078296417145294,
+            "object_to_finger_line_xy": 0.010805057834071664,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802048455059603,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6637378610282721,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.261290995040675,
+              0.21662851367897198,
+              0.7611063954636708
+            ],
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+              0.2650907383965497,
+              0.21214292615222743,
+              0.7774145980897915
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21301775665912862,
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+            "min_z": 0.5774145980897916,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758838509182578,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08741245068038687,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18349684264028576,
+            "release_required_pad_clearance": 0.05370622534019344,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4219078100316884,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98c519e440b34af9d41c31df730ab3d7535458a9718782525cf5fb117f7dd67a",
+    "visual_seed": 8066864074372564717,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6de6c6a1410dee3fe4dd553490a922e30f9f947
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_51_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_objects": [
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "max_source_upright_tilt_deg": 89.96863447724289,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.760469708562078,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.281045844614954e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fe88c23e2ab5757df5b4e27671b36d16b913218a57963552c5ae721d29e2a20",
+    "visual_seed": 7315365836418304888,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36387f97e44b5584e083cea5e8a2004faa3c6185
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_52_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.20118818277001901,
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+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "missing_end_effector_orientation_samples": 0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
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+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "valid_pour_source_tilt_deg": 2.966932345824959,
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+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.999185021399437e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3701684082934179,
+              -0.022101567673936295,
+              1.0234959248207978
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35849997312630694,
+              0.001595590805232975,
+              1.0234959248207978
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3643341907098624,
+              -0.01025298843435166,
+              1.0234959248207978
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3701684082934179,
+              0.001595590805232975,
+              1.0234959248207978
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026414157174438405,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.023695085845202794,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.002435831133883827,
+              -0.9987131380474568,
+              0.05065702930580174
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005893667229127149,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03790112948515742,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3701684082934179,
+              -0.022101567673936295,
+              1.0234959248207978
+            ],
+            "held_grasp_finger_b": [
+              0.35849997312630694,
+              0.001595590805232975,
+              1.0234959248207978
+            ],
+            "held_grasp_midpoint": [
+              0.3643341907098624,
+              -0.01025298843435166,
+              1.0234959248207978
+            ],
+            "held_grasp_object_position": [
+              0.3701684082934179,
+              0.001595590805232975,
+              1.0234959248207978
+            ],
+            "held_grasp_finger_gap": 0.026414157174438405,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023695085845202794,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.002435831133883827,
+              -0.9987131380474568,
+              0.05065702930580174
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005893667229127149,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03790112948515742,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26101168560679666,
+              0.20287596814091777,
+              0.7611077960014553
+            ],
+            "target_position": [
+              0.2655806309323425,
+              0.20951682232186847,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.008060781949691839,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2138292718466509,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611077960014553,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528392973438579,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08741097052571527,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18281867450282813,
+            "release_required_pad_clearance": 0.053705485262857636,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4193207626245434,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "35c73537cc0def0eb37cacf61166d3271574e656ba1d8159d24c39251f7c2132",
+    "visual_seed": 1986840780325088843,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82d745583c8f8f385eb9f123cbdcc7028044e204
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_53_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2860247738672906,
+              0.21792302056214596,
+              1.0008309529769024
+            ],
+            "current_z": 1.0008309529769024,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.13972438535749176,
+            "gripper_z": 1.002082689184535,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28093616242722064,
+              0.2130003017251872,
+              1.002082689184535
+            ],
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+              0.005088611440069946,
+              0.004922718836958773,
+              -0.0012517362076325256
+            ],
+            "object_to_gripper_xy": 0.007080051351209217,
+            "object_to_gripper_z": -0.0012517362076325256,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2860247738672906,
+              0.19359194436710792,
+              1.0008309529769024
+            ],
+            "finger_b": [
+              0.27393636534874166,
+              0.21792302056214596,
+              1.0008309529769024
+            ],
+            "finger_midpoint": [
+              0.2799805696080161,
+              0.20575748246462694,
+              1.0008309529769024
+            ],
+            "object_minus_finger_midpoint": [
+              0.006044204259274488,
+              0.012165538097519024,
+              0.0
+            ],
+            "finger_gap": 0.027168564358833417,
+            "fingertip_max_gap": 0.09109276466282737,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013584282179416719,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0008309529769024,
+            "object_top_z": 1.050761212213086,
+            "finger_top_clearance": 0.04993025923618366,
+            "fingertip_min_top_clearance": 0.014979077770855097,
+            "object_projection_between_fingers": 0.8020274959012581,
+            "object_to_finger_line_xy": 0.010825893663605764,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804638233141369,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9533074944177836,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
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+                "fr3_leftfinger",
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+                "gripper",
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+                "panda_rightfinger",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
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+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
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+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25652949599445174,
+              0.21207166792784118,
+              0.7611063775374993
+            ],
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+              0.2615810741395332,
+              0.21407716527437787,
+              0.7774145980897915
+            ],
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+            "gripper_dist": 0.2130498920833949,
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+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18302299691406584,
+            "release_required_pad_clearance": 0.05519621922707607,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.490757502466838,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d9b62b7dbdae005faa9219df3bc1992725a061f060c90b81ada0c57c144fcbdf",
+    "visual_seed": 3429556762785177999,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f6be7f5d5d86c9b8cb59eb924cd9c00497d3206
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_54_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+              0.1982523112465275,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
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+          }
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+      },
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_tilt_deg": 1.7803680293279984,
+            "max_source_upright_tilt_deg": 89.77375268505475,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8995850511645516,
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+            "target_xy_drift": 3.332000937312528e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0141,
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+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31de9f04194919f7d5c4c9ef86d9811b988a9c57d4e575985ab351814114c73b",
+    "visual_seed": 3690835760370290052,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0740e90bf54dae8c8e194fc1157ba25a861eb04
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_55_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "metrics": {
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+              1.0038390342629835
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+              0.20327744993027796,
+              1.0053176370215668
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+              0.004769210948011415,
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+              0.18333830599337866,
+              1.0038390342629835
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+              1.0038390342629835
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+              0.195692483435834,
+              1.0038390342629835
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+              0.0
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+            "stable_success_frames": 173,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+          }
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              -0.006033733900725771,
+              1.0244982454097826
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+              0.3592066047400775,
+              -0.0013510211094043198,
+              1.0229785944657785
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3648099458099326,
+              -0.013319777378545474,
+              1.0229785944657785
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3704132868797877,
+              -0.0013510211094043198,
+              1.0229785944657785
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026430933224177357,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024051535815273455,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01276106204652575,
+              -0.9987891018716739,
+              0.047513001145155984
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005783476676373056,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037837491328578866,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3704132868797877,
+              -0.02528853364768663,
+              1.0229785944657785
+            ],
+            "held_grasp_finger_b": [
+              0.3592066047400775,
+              -0.0013510211094043198,
+              1.0229785944657785
+            ],
+            "held_grasp_midpoint": [
+              0.3648099458099326,
+              -0.013319777378545474,
+              1.0229785944657785
+            ],
+            "held_grasp_object_position": [
+              0.3704132868797877,
+              -0.0013510211094043198,
+              1.0229785944657785
+            ],
+            "held_grasp_finger_gap": 0.026430933224177357,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024051535815273455,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01276106204652575,
+              -0.9987891018716739,
+              0.047513001145155984
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005783476676373056,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037837491328578866,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25597932781582394,
+              0.21256900175854523,
+              0.7611064785102233
+            ],
+            "target_position": [
+              0.2605199501276993,
+              0.20657668434902535,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007518318888922936,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21113266412742948,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064785102233,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552970676759665,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08934865550839176,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18235196778085952,
+            "release_required_pad_clearance": 0.05467432775419588,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.392304986602896,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 266,
+            "max_placed_release_frames": 266
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ad59e03c8f85ff3dd3c089f6a5e70b3852b51bc2525e07552e379370c57bf99",
+    "visual_seed": 1709138376404805385,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..527c0ab56858db623c4f5005f6f5273aa20adac6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_56_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2828529342421851,
+              0.21098915043195884,
+              1.0024533433476557
+            ],
+            "current_z": 1.0024533433476557,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14134677572824483,
+            "gripper_z": 1.0040897126680683,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2777484306828414,
+              0.20604407534331534,
+              1.0040897126680683
+            ],
+            "object_minus_gripper": [
+              0.0051045035593437205,
+              0.004945075088643502,
+              -0.0016363693204126672
+            ],
+            "object_to_gripper_xy": 0.007107019362551031,
+            "object_to_gripper_z": -0.0016363693204126672,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2828529342421851,
+              0.18666188627055574,
+              1.0024533433476557
+            ],
+            "finger_b": [
+              0.27070870361331534,
+              0.21098915043195884,
+              1.0024533433476557
+            ],
+            "finger_midpoint": [
+              0.2767808189277502,
+              0.19882551835125728,
+              1.0024533433476557
+            ],
+            "object_minus_finger_midpoint": [
+              0.006072115314434912,
+              0.012163632080701564,
+              0.0
+            ],
+            "finger_gap": 0.02719003713027745,
+            "fingertip_max_gap": 0.09137018579899608,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013595018565138749,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0024533433476557,
+            "object_top_z": 1.0524671072760674,
+            "finger_top_clearance": 0.050013763928411725,
+            "fingertip_min_top_clearance": 0.0150041291785235,
+            "object_projection_between_fingers": 0.8005103303420148,
+            "object_to_finger_line_xy": 0.010865594082493352,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048185092899498044,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0252676378843857,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
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+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24847401226471633,
+              0.20985750342464873,
+              0.7611062199780889
+            ],
+            "target_position": [
+              0.2582391373062239,
+              0.2074955905553724,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010046705901853165,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2067082333495839,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611062199780889,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548288641600948,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09344244414483634,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17781348480522616,
+            "release_required_pad_clearance": 0.05672122207241817,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.87291454766805,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 262,
+            "max_placed_release_frames": 262
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4755d1193b0386e41c72dfd7088f1f6fa4f6f5455f251f12d2b2bc4cd0916e3f",
+    "visual_seed": 2900546124013787776,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d9e2312bc479b39bcd0f4f175c40f6112e5687
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_57_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2823226937178191,
+              0.21166366091646896,
+              1.0010224799594654
+            ],
+            "current_z": 1.0010224799594654,
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+            "initial_z": 0.7611065676194111,
+            "lift_margin": 0.1399159123400543,
+            "gripper_z": 1.002795979750453,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2770224583112417,
+              0.20671710910715152,
+              1.002795979750453
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+              0.005300235406577369,
+              0.00494655180931744,
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+            "object_to_gripper_xy": 0.007249887596880245,
+            "object_to_gripper_z": -0.0017734997909877315,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2823226937178191,
+              0.18699152299239602,
+              1.0010224799594654
+            ],
+            "finger_b": [
+              0.2704388804612824,
+              0.21166366091646896,
+              1.0010224799594654
+            ],
+            "finger_midpoint": [
+              0.2763807870895507,
+              0.1993275919544325,
+              1.0010224799594654
+            ],
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+              0.0059419066282683786,
+              0.012336068962036456,
+              0.0
+            ],
+            "finger_gap": 0.02738502158590925,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8116847625969058,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794199237178168,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7822583817819733,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3641643038994496,
+              0.013724857798449775,
+              0.7701464494012564
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+            "gripper_position": [
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+              0.000925008642353578,
+              1.0268352652356234
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+            "held_position": [
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004881963330973993,
+              -0.001808555225910169
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+            "max_held_gripper_dist": 0.007519714821223471,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012564,
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+            "gripper_z": 1.0268352652356234,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2208301853599,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.7844799335952348,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.7737915106869957,
+            "max_source_tilt_deg": 89.96467839311792,
+            "source_upright_tilt_deg": 1.6793130665464255,
+            "max_source_upright_tilt_deg": 89.7866349971775,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.7737915106869957,
+            "source_upright_return_tilt_deg": 1.6793130665464255,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.543712854385376e-08,
+            "max_target_xy_drift": 1.2014061212539673e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3642,
+                0.0137,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0137,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0011,
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
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+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
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+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+                "pour_pose_offset_m": [
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+                  0.0010746853774435982,
+                  0.0007373854134841923
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.6793061107624359,
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 1.7691488792852748,
+              "source_return_best_wrist_position": -1.6080901622772217,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6080901622772217
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3642,
+              0.0137,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+              0.0137,
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0011,
+              0.0007
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3635,
+              -0.0104,
+              1.0361
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0006264369939636021,
+                0.0010746853774435982,
+                0.0007373854134841923
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.6793061107624359,
+            "pour_controller_source_return_step_error_deg": 1.7737874919929721,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.7691488792852748,
+            "pour_controller_source_return_best_wrist_position": -1.6080901622772217,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6080901622772217,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013186462327076008,
+            "valid_pour_held_xy_dist": 0.008208681328780942,
+            "valid_pour_held_gripper_dist": 0.007454432494473006,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.0250267100097132,
+            "valid_pour_source_tilt_deg": 1.7737915106869957,
+            "valid_pour_source_upright_tilt_deg": 1.6793130665464255,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.543712854385376e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36632983690954335,
+              -0.018414756579059194,
+              1.0250267100097132
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35462777871436313,
+              0.005806971973327571,
+              1.0250267100097132
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36047880781195324,
+              -0.006303892302865812,
+              1.0250267100097132
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36632983690954335,
+              0.005806971973327571,
+              1.0250267100097132
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026900377322054293,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024352076179100943,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.01202784469650733,
+              -0.9995705132330072,
+              0.02672302428729678
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006004950339776906,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03768496251914571,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36632983690954335,
+              -0.018414756579059194,
+              1.0250267100097132
+            ],
+            "held_grasp_finger_b": [
+              0.35462777871436313,
+              0.005806971973327571,
+              1.0250267100097132
+            ],
+            "held_grasp_midpoint": [
+              0.36047880781195324,
+              -0.006303892302865812,
+              1.0250267100097132
+            ],
+            "held_grasp_object_position": [
+              0.36632983690954335,
+              0.005806971973327571,
+              1.0250267100097132
+            ],
+            "held_grasp_finger_gap": 0.026900377322054293,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024352076179100943,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01202784469650733,
+              -0.9995705132330072,
+              0.02672302428729678
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006004950339776906,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03768496251914571,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26169198150067957,
+              0.20513523014846677,
+              0.761106377028137
+            ],
+            "target_position": [
+              0.2575196604227263,
+              0.20660121830058098,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00442237316829692,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21658354384615874,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106377028137,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514049678077872,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0885913496963434,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18632549445255825,
+            "release_required_pad_clearance": 0.0542956748481717,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6118220591656356,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bdc42651262231030c6dd12d0139f13865eaedeb5fa1372ab01b17fbc998ebbe",
+    "visual_seed": 4092450831897632252,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d84afe58a362938fdd15b23b62aed5fb8753b8a8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_58_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "failure_messages": {},
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "valid_pour_grasp_frames": 0,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
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+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.02692992319386062,
+              -0.9992517002740959,
+              0.02776362253203335
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0062009157452555825,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037802896464362204,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37094760845760033,
+              -0.017363688526740275,
+              1.0260581686820875
+            ],
+            "held_grasp_finger_b": [
+              0.35921031459691777,
+              0.006805188671079931,
+              1.0260581686820875
+            ],
+            "held_grasp_midpoint": [
+              0.36507896152725905,
+              -0.005279249927830172,
+              1.0260581686820875
+            ],
+            "held_grasp_object_position": [
+              0.37094760845760033,
+              0.006805188671079931,
+              1.0260581686820875
+            ],
+            "held_grasp_finger_gap": 0.026868172475539347,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024466876055809623,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02692992319386062,
+              -0.9992517002740959,
+              0.02776362253203335
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0062009157452555825,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037802896464362204,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2684899938364762,
+              0.2107032152178643,
+              0.761106527453076
+            ],
+            "target_position": [
+              0.2658033065264541,
+              0.20748635433018445,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004191238799271425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2177755198930268,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106527453076,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534477828687892,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858336853251072,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18815207367793982,
+            "release_required_pad_clearance": 0.0529168426625536,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8722216453297277,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b5ccbf1daa3ac05f0f1f9fc4756985a95b7e14b14c34c619d94c9dc767fb774b",
+    "visual_seed": 1221407145785045190,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..640e32df0a91364a98448c82eca0a2757735dd19
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_59_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28718161376247314,
+              0.20822659026631474,
+              1.0026979407449097
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+            "current_z": 1.0026979407449097,
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+            "lift_margin": 0.14159137312549896,
+            "gripper_z": 1.0045485214630587,
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+            "gripper_position": [
+              0.28206902624607816,
+              0.20333040717577278,
+              1.0045485214630587
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+              0.005112587516394984,
+              0.004896183090541961,
+              -0.0018505807181490308
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+            "object_to_gripper_z": -0.0018505807181490308,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28718161376247314,
+              0.18382082023355198,
+              1.0026979407449097
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+            "finger_b": [
+              0.2751865971248174,
+              0.20822659026631474,
+              1.0026979407449097
+            ],
+            "finger_midpoint": [
+              0.28118410544364525,
+              0.19602370524993334,
+              1.0026979407449097
+            ],
+            "object_minus_finger_midpoint": [
+              0.005997508318827893,
+              0.012202885016381393,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010765093593097737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807856430014039,
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+            "object_tilt_deg": 0.7082889759152239,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
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+              0.2590420309376378,
+              0.20669590053004347,
+              0.7611077640828501
+            ],
+            "target_position": [
+              0.2626043572907154,
+              0.20523141579890256,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003851608050357178,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2141423511883003,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611077640828501,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754269796143944,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09321622046173898,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18446713366653542,
+            "release_required_pad_clearance": 0.05660811023086949,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.611595587802356,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 264,
+            "max_placed_release_frames": 264
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a8dc015da1808ef150562c9a837925b2048a55f717f96c86aba36c0f3498c7de",
+    "visual_seed": 7767422519350524306,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..303cc303e8182fbc17071e64ef92cdcb12741a6e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_5_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29093616146474977,
+              0.20827251868375066,
+              1.0001799736683996
+            ],
+            "current_z": 1.0001799736683996,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.13907352525827832,
+            "gripper_z": 1.002140857552219,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28564460742538006,
+              0.2033227927378561,
+              1.002140857552219
+            ],
+            "object_minus_gripper": [
+              0.005291554039369706,
+              0.004949725945894545,
+              -0.001960883883819431
+            ],
+            "object_to_gripper_xy": 0.0072457112205104824,
+            "object_to_gripper_z": -0.001960883883819431,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29093616146474977,
+              0.18364715828397418,
+              1.0001799736683996
+            ],
+            "finger_b": [
+              0.27900108604267115,
+              0.20827251868375066,
+              1.0001799736683996
+            ],
+            "finger_midpoint": [
+              0.28496862375371046,
+              0.19595983848386242,
+              1.0001799736683996
+            ],
+            "object_minus_finger_midpoint": [
+              0.005967537711039306,
+              0.012312680199888237,
+              0.0
+            ],
+            "finger_gap": 0.027365204186148226,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8097814137137324,
+            "object_to_finger_line_xy": 0.010740118424402954,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794305382212054,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7257810760819087,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3723414353138631,
+              0.016612375943593754,
+              0.7701464494012565
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+            "gripper_position": [
+              0.368165308394907,
+              0.004452533734588579,
+              1.0262958665676885
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+              -0.2561494171664319
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+              1.0242975554340346
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004877145773745647,
+              -0.001998311133653896
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+            "xy_dist": 0.012856974706015932,
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+            "held_gripper_dist": 0.007495738113044787,
+            "max_held_gripper_dist": 0.007580356975639593,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012565,
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+            "required_height": 0.8001464494012566,
+            "gripper_z": 1.0262958665676885,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22240795905817,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.6169519449896954,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.7951044161322571,
+            "max_source_tilt_deg": 89.8978524444866,
+            "source_upright_tilt_deg": 1.607105826485098,
+            "max_source_upright_tilt_deg": 89.77388436197154,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.7951044161322571,
+            "source_upright_return_tilt_deg": 1.607105826485098,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.6166026888317614e-08,
+            "max_target_xy_drift": 1.2065570608304177e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3723,
+                0.0166,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0166,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0015,
+                0.0015,
+                0.0003
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.6070552240705709,
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+              "source_return_recovering": false,
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+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              0.0166,
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+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0015,
+              0.0003
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+              -0.007,
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+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+              0.3,
+              0.4
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+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.0015487320513829926,
+                0.0002864299141075123
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.6070552240705709,
+            "pour_controller_source_return_step_error_deg": 1.7950584597008885,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.7836983147610392,
+            "pour_controller_source_return_best_wrist_position": -1.6084777116775513,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6084777116775513,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.012856974706015932,
+            "valid_pour_held_xy_dist": 0.0073735015978301345,
+            "valid_pour_held_gripper_dist": 0.007495738113044787,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.0242975554340346,
+            "valid_pour_source_tilt_deg": 1.7951044161322571,
+            "valid_pour_source_upright_tilt_deg": 1.607105826485098,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.6166026888317614e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37349506369642904,
+              -0.01483674839217945,
+              1.0242975554340346
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3617470109914159,
+              0.009329679508334226,
+              1.0242975554340346
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3676210373439225,
+              -0.0027535344419226124,
+              1.0242975554340346
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37349506369642904,
+              0.009329679508334226,
+              1.0242975554340346
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02687067136918043,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024278476224814244,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.010346749090394078,
+              -0.9996066514514242,
+              0.026066974456798175
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006006955736877254,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03770256611132744,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37349506369642904,
+              -0.01483674839217945,
+              1.0242975554340346
+            ],
+            "held_grasp_finger_b": [
+              0.3617470109914159,
+              0.009329679508334226,
+              1.0242975554340346
+            ],
+            "held_grasp_midpoint": [
+              0.3676210373439225,
+              -0.0027535344419226124,
+              1.0242975554340346
+            ],
+            "held_grasp_object_position": [
+              0.37349506369642904,
+              0.009329679508334226,
+              1.0242975554340346
+            ],
+            "held_grasp_finger_gap": 0.02687067136918043,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024278476224814244,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.010346749090394078,
+              -0.9996066514514242,
+              0.026066974456798175
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006006955736877254,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03770256611132744,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2563548283727265,
+              0.21206361103818155,
+              0.7611064176838578
+            ],
+            "target_position": [
+              0.26633687270419487,
+              0.2065073362919077,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.011424246062278265,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20772630361665434,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064176838578,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759017022017558,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08708554919061963,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17897079891459558,
+            "release_required_pad_clearance": 0.05354277459530982,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0969573953466165,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 247,
+            "max_placed_release_frames": 247
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "94b03c053e350dd18ef656a8a310df5dae35641a1d0b8ace159dd678d8bee52e",
+    "visual_seed": 3804246857373675692,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3267eddcf9c206ecb3994f6fefc4b1c50225cf9a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_60_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+            "held_grasp_finger_a": [
+              0.37628033933649496,
+              -0.018823661660816848,
+              1.0244822730380503
+            ],
+            "held_grasp_finger_b": [
+              0.3642642986430656,
+              0.005292087479971461,
+              1.0244822730380503
+            ],
+            "held_grasp_midpoint": [
+              0.3702723189897803,
+              -0.006765787090422693,
+              1.0244822730380503
+            ],
+            "held_grasp_object_position": [
+              0.37628033933649496,
+              0.005292087479971461,
+              1.0244822730380503
+            ],
+            "held_grasp_finger_gap": 0.02694354450638562,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024345694443157456,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.02026653970233831,
+              -0.9994369545258626,
+              0.026740256105032834
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006259383736204072,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037790926414294636,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2530225747138234,
+              0.20363384525163564,
+              0.7611063677984716
+            ],
+            "target_position": [
+              0.25938522665040975,
+              0.21464791859726076,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.012719793682641083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2123983865645056,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063677984716,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520682947223811,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573967158300648,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1810141763765508,
+            "release_required_pad_clearance": 0.05286983579150324,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7813413681872279,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 264,
+            "max_placed_release_frames": 264
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa28e7d8f0a00e0069d17e87a25516b56a091a5dfb85b998e5674d0379f3a619",
+    "visual_seed": 8599546580128062780,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..af88bb2cc3c26c5ee00b4183e9318af7bd23921a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_61_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2858053880085646,
+              0.21050897862462226,
+              1.0036463576891503
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+            "current_z": 1.0036463576891503,
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+            "lift_margin": 0.1425397900697396,
+            "gripper_z": 1.0049861468298322,
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+            "gripper_position": [
+              0.28063632832508945,
+              0.20567614564520942,
+              1.0049861468298322
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+              0.004832832979412838,
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+            "object_to_gripper_z": -0.0013397891406818907,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2858053880085646,
+              0.18591537008729608,
+              1.0036463576891503
+            ],
+            "finger_b": [
+              0.2741033655865076,
+              0.21050897862462226,
+              1.0036463576891503
+            ],
+            "finger_midpoint": [
+              0.2799543767975361,
+              0.19821217435595917,
+              1.0036463576891503
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058510112110284895,
+              0.012296804268663086,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8153943330532141,
+            "object_to_finger_line_xy": 0.010566831211839506,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.762238526155932,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+            "release_min_pad_clearance": 0.18884339047935364,
+            "release_required_pad_clearance": 0.05248274915478131,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.039564515968509434,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6afe0446b587986fc44446544b22ae5e2969aefd2e3eb854f192b951b4d43ac3",
+    "visual_seed": 6986513655938382152,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e4f2f7d093e0af916fcfa59050243856695967
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_62_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28464900217643485,
+              0.21178631706908355,
+              1.0002869526492466
+            ],
+            "current_z": 1.0002869526492466,
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+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.13918050423912554,
+            "gripper_z": 1.002149939804534,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.20683140779466025,
+              1.002149939804534
+            ],
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+              0.004954909274423297,
+              -0.0018629871552873212
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+            "object_to_gripper_xy": 0.007255999402329823,
+            "object_to_gripper_z": -0.0018629871552873212,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28464900217643485,
+              0.1871932337046249,
+              1.0002869526492466
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+            "finger_b": [
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+              0.21178631706908355,
+              1.0002869526492466
+            ],
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+              0.27864908432316726,
+              0.19948977538685422,
+              1.0002869526492466
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012296541682229323,
+              0.0
+            ],
+            "finger_gap": 0.027364499015239577,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010784519012252854,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
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+          }
+        },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.014009737266831176,
+              0.7701464494012563
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+            "gripper_position": [
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+              1.9910252290755714e-05,
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+              0.004797366001845032,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21678671337126,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.75654826181609,
+            "source_upright_tilt_deg": 1.5948551150997314,
+            "max_source_upright_tilt_deg": 89.85041952956692,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 1.30385160446167e-08,
+            "max_target_xy_drift": 7.920075813368953e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.014,
+                0.7701
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+              "controller_target_position": [
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+              ],
+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0002,
+              -0.0008
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0345
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.065,
+              0.0603,
+              0.0904
+            ],
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                -0.00043226940971686687,
+                -0.00017400093694211623,
+                -0.0008072532061938848
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.5945226750730057,
+            "pour_controller_source_return_step_error_deg": 1.9296462377128314,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9213818093530404,
+            "pour_controller_source_return_best_wrist_position": -1.6077169179916382,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6077169179916382,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014405824872933237,
+            "valid_pour_held_xy_dist": 0.009403524805906728,
+            "valid_pour_held_gripper_dist": 0.007482051834765682,
+            "valid_pour_required_height": 0.8001464494012563,
+            "valid_pour_held_z": 1.0235843454983145,
+            "valid_pour_source_tilt_deg": 1.9299720725555713,
+            "valid_pour_source_upright_tilt_deg": 1.5948551150997314,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.30385160446167e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.375826466063807,
+              -0.0195820666893178,
+              1.0235843454983145
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36438973098408006,
+              0.004817276254135788,
+              1.0235843454983145
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37010809852394355,
+              -0.007382395217591006,
+              1.0235843454983145
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.375826466063807,
+              0.004817276254135788,
+              1.0235843454983145
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026946740904163435,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024345483739777643,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0038828845827588677,
+              -0.999612625578497,
+              0.027559426543033443
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005680930563519068,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03750310067788807,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.375826466063807,
+              -0.0195820666893178,
+              1.0235843454983145
+            ],
+            "held_grasp_finger_b": [
+              0.36438973098408006,
+              0.004817276254135788,
+              1.0235843454983145
+            ],
+            "held_grasp_midpoint": [
+              0.37010809852394355,
+              -0.007382395217591006,
+              1.0235843454983145
+            ],
+            "held_grasp_object_position": [
+              0.375826466063807,
+              0.004817276254135788,
+              1.0235843454983145
+            ],
+            "held_grasp_finger_gap": 0.026946740904163435,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024345483739777643,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0038828845827588677,
+              -0.999612625578497,
+              0.027559426543033443
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005680930563519068,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03750310067788807,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25960456152432976,
+              0.20745990294106254,
+              0.7611064376800063
+            ],
+            "target_position": [
+              0.25990756376879603,
+              0.2074333415646521,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00030416421036739126,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21419701576283,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064376800063,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535104183033671,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08893861160494083,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18421415324511792,
+            "release_required_pad_clearance": 0.05446930580247042,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9681236138493836,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3eab976c949db861b97b05bda9f956e82189cb52b88d7d17dca6aedd48b1926a",
+    "visual_seed": 8904620505980193073,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b162a90bea3fe5a02a3c88f88d6451c63ba646ab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_63_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28551859809783264,
+              0.21700632393473981,
+              1.0022408925508115
+            ],
+            "current_z": 1.0022408925508115,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.14113432493140055,
+            "gripper_z": 1.0038397234496195,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2799925142854151,
+              0.2120446892093515,
+              1.0038397234496195
+            ],
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+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02456037778692348,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.024433683931223665,
+              -0.9993339442493157,
+              0.027104666768930308
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006267513969134442,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03773150927593982,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2598226957119083,
+              0.2214534617849853,
+              0.7611067740391239
+            ],
+            "target_position": [
+              0.2605897369364691,
+              0.21480777362608525,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006689807422154986,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21389093922379396,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611067740391239,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531392895501872,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08797749241455978,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1855467361463125,
+            "release_required_pad_clearance": 0.05398874620727989,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.986628165608728,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 259,
+            "max_placed_release_frames": 259
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aee865114c203fe760540246cb1a51512251e39f0bc96ea3fc08f8cd50076887",
+    "visual_seed": 5522651067952294465,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..390f5bffc3c00e78fe7786b6dddc9ddb81be8f2f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_64_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
+              0.2851080325797298,
+              0.21762159251471488,
+              1.0022933244778889
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+            "gripper_z": 1.0038376420692676,
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+              0.21267909389803819,
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+              0.1931712536859725,
+              1.0022933244778889
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+              1.0022933244778889
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+            "finger_midpoint": [
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+              0.20539642310034367,
+              1.0022933244778889
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+              0.012225169414371212,
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+            "object_to_finger_line_xy": 0.010816789710912838,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.009089360802106632,
+              0.7701463897966119
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+            "gripper_position": [
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+              -0.0051594822165945825,
+              1.025170639159917
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+            "target_minus_gripper": [
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+              0.014248843018701215,
+              -0.25502424936330503
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+            "held_position": [
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+              -0.0004022706358960751,
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b53a1e2a3c67a2e695b9d6b9be57994352fcb2b5634624fc20ec5c702d915fe",
+    "visual_seed": 77354987432160311,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b4fea19c278bc95431e43ffc655f8eae1b7c116
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_65_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28568078726911644,
+              0.20963070888985091,
+              1.0030180034181124
+            ],
+            "current_z": 1.0030180034181124,
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+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.14191149540334624,
+            "gripper_z": 1.0052435288226167,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.2046794995845922,
+              1.0052435288226167
+            ],
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+              0.004951209305258719,
+              -0.0022255254045042694
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+            "object_to_gripper_z": -0.0022255254045042694,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28568078726911644,
+              0.18481517444621312,
+              1.0030180034181124
+            ],
+            "finger_b": [
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+              0.20963070888985091,
+              1.0030180034181124
+            ],
+            "finger_midpoint": [
+              0.2797744604123449,
+              0.197222941668032,
+              1.0030180034181124
+            ],
+            "object_minus_finger_midpoint": [
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+              0.01240776722181891,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.0106658905294253,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047931633143169075,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.016376457034282463,
+              0.7701463301919669
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+              0.0038997562626629234,
+              1.0267470788459356
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.004906749164793419,
+              -0.0022620424332806532
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+            "held_gripper_dist": 0.007658651633564249,
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001463301919669,
+            "gripper_z": 1.0267470788459356,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21590561896832,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.70178896779636,
+            "source_upright_tilt_deg": 1.8178096094389076,
+            "max_source_upright_tilt_deg": 89.9765169874682,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.773049841353343,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.60770320892334e-08,
+            "max_target_xy_drift": 6.705522537231445e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3643,
+                0.0164,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0164,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+              "wrist_compensated_return_position": -1.6079961061477661
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
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+              0.3,
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.0013484541175870298,
+                0.000718285682152247
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.817793673703945,
+            "pour_controller_source_return_step_error_deg": 1.7730478272549284,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8066274968029676,
+            "pour_controller_source_return_best_wrist_position": -1.6079961061477661,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6079961061477661,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.012534331310546225,
+            "valid_pour_held_xy_dist": 0.008670307928058047,
+            "valid_pour_held_gripper_dist": 0.007658651633564249,
+            "valid_pour_required_height": 0.8001463301919669,
+            "valid_pour_held_z": 1.024485036412655,
+            "valid_pour_source_tilt_deg": 1.773049841353343,
+            "valid_pour_source_upright_tilt_deg": 1.8178096094389076,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.60770320892334e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36848172694411035,
+              -0.015450446852456763,
+              1.024485036412655
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35669676043144183,
+              0.008806505427456342,
+              1.024485036412655
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3625892436877761,
+              -0.0033219707125002104,
+              1.024485036412655
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36848172694411035,
+              0.008806505427456342,
+              1.024485036412655
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026968225184737318,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02444202961573309,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.016740353887879596,
+              -0.9994967556509972,
+              0.026944312847787755
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00610337628918071,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.0376965197722074,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36848172694411035,
+              -0.015450446852456763,
+              1.024485036412655
+            ],
+            "held_grasp_finger_b": [
+              0.35669676043144183,
+              0.008806505427456342,
+              1.024485036412655
+            ],
+            "held_grasp_midpoint": [
+              0.3625892436877761,
+              -0.0033219707125002104,
+              1.024485036412655
+            ],
+            "held_grasp_object_position": [
+              0.36848172694411035,
+              0.008806505427456342,
+              1.024485036412655
+            ],
+            "held_grasp_finger_gap": 0.026968225184737318,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02444202961573309,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.016740353887879596,
+              -0.9994967556509972,
+              0.026944312847787755
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00610337628918071,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0376965197722074,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25230677025109466,
+              0.21060717667665627,
+              0.7611074948158895
+            ],
+            "target_position": [
+              0.26085991495638267,
+              0.20736803342872084,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009145946278556522,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20942085209958525,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611074948158895,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518127029811869,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08607931153735383,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18094617091230392,
+            "release_required_pad_clearance": 0.05303965576867692,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1049801850898353,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 262,
+            "max_placed_release_frames": 262
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4b90ba8cf2022d6ad89ab7b0f65891e2936a795c2829bac663fde4dc874f0f1",
+    "visual_seed": 2836218701806153174,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25db48702571249969c39cfa081cea84bae91af4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_66_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28275428011383913,
+              0.21076204320431222,
+              1.0009496225626826
+            ],
+            "current_z": 1.0009496225626826,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.13984311454791665,
+            "gripper_z": 1.0025281133306154,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27751376967302976,
+              0.2058650037275523,
+              1.0025281133306154
+            ],
+            "object_minus_gripper": [
+              0.005240510440809365,
+              0.004897039476759929,
+              -0.0015784907679328164
+            ],
+            "object_to_gripper_xy": 0.0071724434690820064,
+            "object_to_gripper_z": -0.0015784907679328164,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28275428011383913,
+              0.18617435403824198,
+              1.0009496225626826
+            ],
+            "finger_b": [
+              0.2708860401668379,
+              0.21076204320431222,
+              1.0009496225626826
+            ],
+            "finger_midpoint": [
+              0.2768201601403385,
+              0.1984681986212771,
+              1.0009496225626826
+            ],
+            "object_minus_finger_midpoint": [
+              0.005934119973500629,
+              0.012293844583035118,
+              0.0
+            ],
+            "finger_gap": 0.027302189984814092,
+            "fingertip_max_gap": 0.09111344100690646,
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+          "safety": {
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+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25224750933621937,
+              0.21899538856344036,
+              0.7611077071759967
+            ],
+            "target_position": [
+              0.2580474419955478,
+              0.20748284477676135,
+              0.7774145980897915
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2117693313242632,
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+            "object_z": 0.7611077071759967,
+            "min_z": 0.5774145980897916,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524849770432789,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09341856733090002,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18489552835935835,
+            "release_required_pad_clearance": 0.056709283665450014,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.842399000545841,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 267,
+            "max_placed_release_frames": 267
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d15bb127b382dca5ad40219247b76a558f78c7bf4a12e754f01697fa859ed762",
+    "visual_seed": 4264506113963991282,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc62a7481a8ef9cff7892e38f7208acce56a6776
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_67_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "pour",
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+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "284b3a6aab888540e0bcc5ec879d8e3bbbc0fe99ca2fbeafb50dd38b8ce0b9d2",
+    "visual_seed": 8157917297180618238,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0f21181a07a429c15c62c5b74b7026dbf80ba68
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_68_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28790352709030603,
+              0.21035116881126256,
+              1.002878211329125
+            ],
+            "current_z": 1.002878211329125,
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+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14177170331435907,
+            "gripper_z": 1.0046621095066064,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28263664519237924,
+              0.2054039166922544,
+              1.0046621095066064
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+              0.00494725211900815,
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+            "object_to_gripper_xy": 0.00722601885243455,
+            "object_to_gripper_z": -0.001783898177481369,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28790352709030603,
+              0.18575337210284587,
+              1.002878211329125
+            ],
+            "finger_b": [
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+              0.21035116881126256,
+              1.002878211329125
+            ],
+            "finger_midpoint": [
+              0.2819316236424655,
+              0.1980522704570542,
+              1.002878211329125
+            ],
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+              0.005971903447840543,
+              0.01229889835420836,
+              0.0
+            ],
+            "finger_gap": 0.027344215587028924,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0529865840721417,
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+            "object_projection_between_fingers": 0.809210439519682,
+            "object_to_finger_line_xy": 0.010744185841041805,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809037828756284,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8367929516564915,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3712075463539783,
+              0.013315365506939666,
+              0.7701464494012563
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+            "gripper_position": [
+              0.368971129105432,
+              -0.0015881373906576485,
+              1.0254109003857452
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+              0.002236417248546285,
+              0.014903502897597315,
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+            "held_position": [
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+              0.003226204169116587,
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+            "held_minus_target": [
+              0.0031253273338548992,
+              -0.01008916133782308,
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+            "held_minus_gripper": [
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+              0.004814341559774235,
+              -0.0018221862416412105
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+            "held_gripper_dist": 0.007432802454007801,
+            "max_held_gripper_dist": 0.007501687603128706,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012563,
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+            "gripper_z": 1.0254109003857452,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22763988396241,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8718516210152825,
+            "max_source_tilt_deg": 89.85125159734864,
+            "source_upright_tilt_deg": 1.4465020428598543,
+            "max_source_upright_tilt_deg": 89.9044923270452,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8718516210152825,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.986600622530355e-08,
+            "max_target_xy_drift": 1.2910160013535186e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0133,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0133,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+                0.4
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+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.608752727508545
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "position_threshold_m": 0.015,
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+            },
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.4464899815862267,
+            "pour_controller_source_return_step_error_deg": 1.8718401401910345,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8812481400715397,
+            "pour_controller_source_return_best_wrist_position": -1.608752727508545,
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+            "pour_controller_wrist_compensated_return_position": -1.608752727508545,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.015070366973908993,
+            "valid_pour_held_xy_dist": 0.010562142180654668,
+            "valid_pour_held_gripper_dist": 0.007432802454007801,
+            "valid_pour_required_height": 0.8001464494012563,
+            "valid_pour_held_z": 1.023588714144104,
+            "valid_pour_source_tilt_deg": 1.8718516210152825,
+            "valid_pour_source_upright_tilt_deg": 1.4465020428598543,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.986600622530355e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3743328736878332,
+              -0.02109623640213774,
+              1.023588714144104
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.36285568857427425,
+              0.003226204169116587,
+              1.023588714144104
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36859428113105375,
+              -0.008935016116510576,
+              1.023588714144104
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3743328736878332,
+              0.003226204169116587,
+              1.023588714144104
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026894365459573452,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024313207393450522,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0001291722881765385,
+              -0.9996813377539907,
+              0.025242944774960918
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005745229548776049,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037562163839106856,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3743328736878332,
+              -0.02109623640213774,
+              1.023588714144104
+            ],
+            "held_grasp_finger_b": [
+              0.36285568857427425,
+              0.003226204169116587,
+              1.023588714144104
+            ],
+            "held_grasp_midpoint": [
+              0.36859428113105375,
+              -0.008935016116510576,
+              1.023588714144104
+            ],
+            "held_grasp_object_position": [
+              0.3743328736878332,
+              0.003226204169116587,
+              1.023588714144104
+            ],
+            "held_grasp_finger_gap": 0.026894365459573452,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024313207393450522,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0001291722881765385,
+              -0.9996813377539907,
+              0.025242944774960918
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005745229548776049,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037562163839106856,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.27084962324147405,
+              0.20983396869831492,
+              0.7611063615312315
+            ],
+            "target_position": [
+              0.2632804387136016,
+              0.20658868319108833,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.008235559024158476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22165327808833674,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063615312315,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543078609964314,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08953446718508666,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19147115648275162,
+            "release_required_pad_clearance": 0.05476723359254333,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.585885073250867,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4686e78df5d33418db16344a3a04464e45ba4c7ecbd5c674444df3ba572460d",
+    "visual_seed": 6186284035487088139,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aeaa25eed5e50aebf40810ba56f5b4b9f8b48e1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_6_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2847032282020733,
+              0.21119961377413027,
+              1.0021710107499584
+            ],
+            "current_z": 1.0021710107499584,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.14106462194448222,
+            "gripper_z": 1.0035036069660401,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27947458104259476,
+              0.20638590587745476,
+              1.0035036069660401
+            ],
+            "object_minus_gripper": [
+              0.005228647159478517,
+              0.004813707896675512,
+              -0.0013325962160817273
+            ],
+            "object_to_gripper_xy": 0.007107076391374933,
+            "object_to_gripper_z": -0.0013325962160817273,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2847032282020733,
+              0.1864923459647163,
+              1.0021710107499584
+            ],
+            "finger_b": [
+              0.2731232864500135,
+              0.21119961377413027,
+              1.0021710107499584
+            ],
+            "finger_midpoint": [
+              0.2789132573260434,
+              0.1988459798694233,
+              1.0021710107499584
+            ],
+            "object_minus_finger_midpoint": [
+              0.005789970876029893,
+              0.012353633904706979,
+              0.0
+            ],
+            "finger_gap": 0.027286336023497195,
+            "fingertip_max_gap": 0.09088139986160584,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013643168011748598,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0021710107499584,
+            "object_top_z": 1.0522031132411438,
+            "finger_top_clearance": 0.05003210249118539,
+            "fingertip_min_top_clearance": 0.0150096307473556,
+            "object_projection_between_fingers": 0.8198964373877612,
+            "object_to_finger_line_xy": 0.01048542104880542,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047940699930802924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5364751240105865,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
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+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25665624240407614,
+              0.20485111227525016,
+              0.761106463425552
+            ],
+            "target_position": [
+              0.26005472809929836,
+              0.20858400412721156,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005048186466353032,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2132948017643576,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106463425552,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534367776216143,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560228353531878,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18272531684219537,
+            "release_required_pad_clearance": 0.05280114176765939,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6489098858474553,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ceb8866e4e94f5b46f8a257a831fc1424de93f2fb6005734e9f3cd5868fd65c1",
+    "visual_seed": 3614480991019013992,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f2e9b30db5d284ba11395274249e0026535f3f3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_70_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+              0.2007050704920139,
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+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+              ],
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+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "max_wrist_deg": 120.22526297813124,
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+            "max_source_tilt_deg": 89.94691879687173,
+            "source_upright_tilt_deg": 1.6892558105832667,
+            "max_source_upright_tilt_deg": 89.97685269882629,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.994643281410374,
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+            "missing_source_orientation_samples": 0,
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+                "ground",
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+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd5d3a8efab90eba387088325ffd2af90b73acbc96b6bd8c5074a079c90883a8",
+    "visual_seed": 3414118420624315874,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf5bd93cb363c92eb9c18265fa3dcc519736d187
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_71_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+              1.0005560057255667
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+              0.004932405047464478,
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+              0.18593490208073624,
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+              1.0005560057255667
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+              0.19819348345343313,
+              1.0005560057255667
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+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+          }
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              -0.0006032315974560526,
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+            "missing_end_effector_orientation_samples": 0,
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+            "valid_pour_pose_frames": 0,
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+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 218,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_z": 1.024751611839482,
+            "valid_pour_source_tilt_deg": 1.8608063387996239,
+            "valid_pour_source_upright_tilt_deg": 1.657846773270501,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.470348358154297e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37318538262649237,
+              -0.019740918990787254,
+              1.024751611839482
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3613468358693202,
+              0.004272810341321169,
+              1.024751611839482
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36726610924790626,
+              -0.007734054324733042,
+              1.024751611839482
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37318538262649237,
+              0.004272810341321169,
+              1.024751611839482
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026773314807052112,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02419783730990272,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.016400628044818802,
+              -0.9995814217765903,
+              0.023832763977893356
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0061220346560186935,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03781549101709927,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37318538262649237,
+              -0.019740918990787254,
+              1.024751611839482
+            ],
+            "held_grasp_finger_b": [
+              0.3613468358693202,
+              0.004272810341321169,
+              1.024751611839482
+            ],
+            "held_grasp_midpoint": [
+              0.36726610924790626,
+              -0.007734054324733042,
+              1.024751611839482
+            ],
+            "held_grasp_object_position": [
+              0.37318538262649237,
+              0.004272810341321169,
+              1.024751611839482
+            ],
+            "held_grasp_finger_gap": 0.026773314807052112,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02419783730990272,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.016400628044818802,
+              -0.9995814217765903,
+              0.023832763977893356
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0061220346560186935,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03781549101709927,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25906342418757183,
+              0.20364611877564803,
+              0.7611064517385043
+            ],
+            "target_position": [
+              0.26140787828742285,
+              0.20643486961928065,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0036432947031731925,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21306181448000783,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064517385043,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568762562434686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860796950280641,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18187686517340101,
+            "release_required_pad_clearance": 0.053039847514032054,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1099328396044394,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "953db83c2c7d9ce08cbe9146256b73717687057a3f574cb875220eb92c0a7029",
+    "visual_seed": 3578820683761092989,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39251073e98d893e96f410507b90ca87b23a4293
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_72_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2865333683606859,
+              0.2094815274187988,
+              1.0029066008341452
+            ],
+            "current_z": 1.0029066008341452,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14180003321473433,
+            "gripper_z": 1.0051099152023446,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2812740120483713,
+              0.20449538203014667,
+              1.0051099152023446
+            ],
+            "object_minus_gripper": [
+              0.005259356312314556,
+              0.004986145388652136,
+              -0.002203314368199427
+            ],
+            "object_to_gripper_xy": 0.007247239105801597,
+            "object_to_gripper_z": -0.002203314368199427,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2865333683606859,
+              0.18499725900420136,
+              1.0029066008341452
+            ],
+            "finger_b": [
+              0.2743893683880081,
+              0.2094815274187988,
+              1.0029066008341452
+            ],
+            "finger_midpoint": [
+              0.280461368374347,
+              0.19723939321150008,
+              1.0029066008341452
+            ],
+            "object_minus_finger_midpoint": [
+              0.006071999986338894,
+              0.012242134207298722,
+              0.0
+            ],
+            "finger_gap": 0.02733049825990101,
+            "fingertip_max_gap": 0.0913902934349057,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013665249129950504,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0029066008341452,
+            "object_top_z": 1.0528418271984747,
+            "finger_top_clearance": 0.049935226364329566,
+            "fingertip_min_top_clearance": 0.014980567909298886,
+            "object_projection_between_fingers": 0.8025630577224561,
+            "object_to_finger_line_xy": 0.01087930970487123,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048195146717452855,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1384095555987535,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+                "shoulder_pan_joint",
+                "split_aloha",
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+                "wrist",
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+                "wrist_2_joint",
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26942161113648105,
+              0.20703911805318975,
+              0.7611132453266471
+            ],
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+              0.26184408861176584,
+              0.20756103900268166,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.007595475567078407,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22267504712480385,
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+            "gripper_away_ok": true,
+            "object_z": 0.7611132453266471,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528443737919967,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08793168447568232,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1919986693837338,
+            "release_required_pad_clearance": 0.05396584223784116,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.923559070185961,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae25a9d4fd434371fb277ff61ee9aa3988897484a5a7cd696497c417c65eff4f",
+    "visual_seed": 4334970995482068772,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b86856d8184d48540b508aaa1985472b26bdacbd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_73_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
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+      },
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.86229998597221,
+            "source_upright_tilt_deg": 2.841599908783825,
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+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.991568773639889,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.2167725338639824e-08,
+            "max_target_xy_drift": 1.2128666487293227e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
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+                "gripper",
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+                "panda_rightfingertip",
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+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d353436ea81e2f6a349989028b9f75886ab4c88bb1d4e52e473a91108951428",
+    "visual_seed": 7050424467654151362,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_74_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..302230e1da64179be201bd33328167719718f89e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_74_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "success": true,
+      "reason": "executed",
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+              1.002573716517164
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+              0.004942508496477482,
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+              0.18620301075849663,
+              1.002573716517164
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+              1.002573716517164
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+              0.19841969589108496,
+              1.002573716517164
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+            "stable_success_frames": 172,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+          }
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
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+              -0.004124176412016428,
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+              0.004778959984961341,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "target_xy_drift": 3.095859692810428e-08,
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+            "target_upright_axis_local": [
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+                0.011,
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3713521962538321,
+              -0.02358690596627206,
+              1.0249822634807106
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.35984848171901357,
+              0.0006547835729449128,
+              1.0249822634807106
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36560033898642286,
+              -0.011466061196663574,
+              1.0249822634807106
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3713521962538321,
+              0.0006547835729449128,
+              1.0249822634807106
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026832721811519168,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024215175316966486,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0014528304222085067,
+              -0.9995956851196347,
+              0.02839640072214356
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005744569156598328,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037595949465167235,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3713521962538321,
+              -0.02358690596627206,
+              1.0249822634807106
+            ],
+            "held_grasp_finger_b": [
+              0.35984848171901357,
+              0.0006547835729449128,
+              1.0249822634807106
+            ],
+            "held_grasp_midpoint": [
+              0.36560033898642286,
+              -0.011466061196663574,
+              1.0249822634807106
+            ],
+            "held_grasp_object_position": [
+              0.3713521962538321,
+              0.0006547835729449128,
+              1.0249822634807106
+            ],
+            "held_grasp_finger_gap": 0.026832721811519168,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024215175316966486,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0014528304222085067,
+              -0.9995956851196347,
+              0.02839640072214356
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005744569156598328,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037595949465167235,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2586261953065356,
+              0.21433000264733174,
+              0.7611064635212236
+            ],
+            "target_position": [
+              0.26262788827180056,
+              0.2076148306316579,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007817101879107136,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21355627378912437,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064635212236,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589920596234434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0861397506442358,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1840805732133406,
+            "release_required_pad_clearance": 0.053069875322117904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1683360279304031,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 264,
+            "max_placed_release_frames": 264
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46e5c8bb237ba60cd36983b18351805eb4d7ece1195c81c1c5b21ee541ee78c2",
+    "visual_seed": 6697838969267949612,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ed8c34a15de3c89535bb10c1afac36d4f29d10
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_76_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2813961299609987,
+              0.21202888467651682,
+              1.0012567528692737
+            ],
+            "current_z": 1.0012567528692737,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.14015024485450767,
+            "gripper_z": 1.0034597743846805,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27628649934078303,
+              0.20708688856819157,
+              1.0034597743846805
+            ],
+            "object_minus_gripper": [
+              0.005109630620215688,
+              0.004941996108325242,
+              -0.0022030215154067445
+            ],
+            "object_to_gripper_xy": 0.007108561782086978,
+            "object_to_gripper_z": -0.0022030215154067445,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2813961299609987,
+              0.18767639737238842,
+              1.0012567528692737
+            ],
+            "finger_b": [
+              0.26929113702350005,
+              0.21202888467651682,
+              1.0012567528692737
+            ],
+            "finger_midpoint": [
+              0.2753436334922494,
+              0.1998526410244526,
+              1.0012567528692737
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060524964687493354,
+              0.012176243652064211,
+              0.0
+            ],
+            "finger_gap": 0.027195118898703633,
+            "fingertip_max_gap": 0.09079950471618398,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013597559449351827,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0012567528692737,
+            "object_top_z": 1.0511933609154978,
+            "finger_top_clearance": 0.04993660804622402,
+            "fingertip_min_top_clearance": 0.014980982413867205,
+            "object_projection_between_fingers": 0.8018714063034403,
+            "object_to_finger_line_xy": 0.010839691046213911,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789975235809199,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7284795862612637,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26090748596450936,
+              0.2121943031920462,
+              0.7611064623585921
+            ],
+            "target_position": [
+              0.2567941740341758,
+              0.20689841393150704,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006705652697248671,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21839639565155666,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064623585921,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558924559757653,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871150499976067,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18843194799198218,
+            "release_required_pad_clearance": 0.053557524998803355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1262410682979787,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81b44b3449e8fb9e3d55e7ab07840cad0a2c5cf4e770eb0fe8fa400946c491f0",
+    "visual_seed": 4117904093404852653,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94fad05f4b091af475a506b061850c7db1841fcc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_77_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28453930539967476,
+              0.2174383075799311,
+              1.0020282485781213
+            ],
+            "current_z": 1.0020282485781213,
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+            "lift_margin": 0.1409216809587106,
+            "gripper_z": 1.003531112898893,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.21239083841275375,
+              1.003531112898893
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+              0.005047469167177354,
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+            "object_to_gripper_z": -0.0015028643207717352,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28453930539967476,
+              0.1930217694126998,
+              1.0020282485781213
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+            "finger_b": [
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+              0.2174383075799311,
+              1.0020282485781213
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+            "finger_midpoint": [
+              0.2783778251104163,
+              0.20523003849631544,
+              1.0020282485781213
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+              0.012208269083615664,
+              0.0
+            ],
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+            "object_to_finger_line_xy": 0.011001243085327317,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048032939420292395,
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+            "object_tilt_deg": 0.8545578839989267,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.006968939068399442,
+              0.7701463897966118
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+              -0.0061368405285413125,
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+              0.004895873779225972,
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+            "xy_threshold": 0.15,
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+            "required_height": 0.8001463897966118,
+            "gripper_z": 1.0280909231063093,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22808384625846,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
+            ],
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+            "source_start_max_tilt_deg": 20.0,
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+            "max_source_tilt_deg": 89.88504195897573,
+            "source_upright_tilt_deg": 1.5972805106732229,
+            "max_source_upright_tilt_deg": 89.98289769443699,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.7961673669459757,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.7939677238464355e-08,
+            "max_target_xy_drift": 1.42093854110535e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3671,
+                0.007,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.007,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
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+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
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+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.5973183539575593,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6090846061706543
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
+              -0.0
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0008,
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.0008110064332780245,
+                0.0019416921418393364
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.5973183539575593,
+            "pour_controller_source_return_step_error_deg": 1.7962064671285722,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8081980145156917,
+            "pour_controller_source_return_best_wrist_position": -1.6090846061706543,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6090846061706543,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01318928688439894,
+            "valid_pour_held_xy_dist": 0.00909345083295266,
+            "valid_pour_held_gripper_dist": 0.007443507962581392,
+            "valid_pour_required_height": 0.8001463897966118,
+            "valid_pour_held_z": 1.026553361048785,
+            "valid_pour_source_tilt_deg": 1.7961673669459757,
+            "valid_pour_source_upright_tilt_deg": 1.5972805106732229,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.7939677238464355e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3710456203155387,
+              -0.025470942186697577,
+              1.026553361048785
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3593200604418714,
+              -0.0012409667493153403,
+              1.026553361048785
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3651828403787051,
+              -0.01335595446800646,
+              1.026553361048785
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3710456203155387,
+              -0.0012409667493153403,
+              1.026553361048785
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02691803232123595,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024170065566415933,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.004306423769293149,
+              -0.9996114465224117,
+              0.027539257355474578
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005820143972319865,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037584722057138864,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3710456203155387,
+              -0.025470942186697577,
+              1.026553361048785
+            ],
+            "held_grasp_finger_b": [
+              0.3593200604418714,
+              -0.0012409667493153403,
+              1.026553361048785
+            ],
+            "held_grasp_midpoint": [
+              0.3651828403787051,
+              -0.01335595446800646,
+              1.026553361048785
+            ],
+            "held_grasp_object_position": [
+              0.3710456203155387,
+              -0.0012409667493153403,
+              1.026553361048785
+            ],
+            "held_grasp_finger_gap": 0.02691803232123595,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024170065566415933,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004306423769293149,
+              -0.9996114465224117,
+              0.027539257355474578
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005820143972319865,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037584722057138864,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25916992916647275,
+              0.2112648893804273,
+              0.761106385011895
+            ],
+            "target_position": [
+              0.25989336795229157,
+              0.21381815680037258,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.002653778098217895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2138398871857957,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106385011895,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580412801479697,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08814649013801791,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1825520627619078,
+            "release_required_pad_clearance": 0.05407324506900896,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.159334333750556,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ddfe3d110e590bdfcc98224bd81ae405369e9a6ab78b3e34d36ad69c802610a",
+    "visual_seed": 4795010040049170101,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5483856323cd8c22e62a12649f10bb3ceb821d73
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_78_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+          "failure_messages": {},
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "max_valid_pour_pose_frames": 219,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0005452994374148394,
+              -0.998788804664581,
+              0.049199861028474276
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005782266694294383,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03784152759163391,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37396069000451393,
+              -0.018880459322181985,
+              1.025622006780233
+            ],
+            "held_grasp_finger_b": [
+              0.3624425379748547,
+              0.004899506977176692,
+              1.025622006780233
+            ],
+            "held_grasp_midpoint": [
+              0.3682016139896843,
+              -0.0069904761725026465,
+              1.025622006780233
+            ],
+            "held_grasp_object_position": [
+              0.37396069000451393,
+              0.004899506977176692,
+              1.025622006780233
+            ],
+            "held_grasp_finger_gap": 0.02642261575576834,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02374488327327864,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0005452994374148394,
+              -0.998788804664581,
+              0.049199861028474276
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005782266694294383,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03784152759163391,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26380079826743785,
+              0.21986752036996543,
+              0.7611063204244132
+            ],
+            "target_position": [
+              0.2645386626502925,
+              0.21241371400513567,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007490238525698771,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2136600075552153,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063204244132,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552171511418249,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08916051293248488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18497671605993946,
+            "release_required_pad_clearance": 0.05458025646624244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.197262342902492,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 251,
+            "max_placed_release_frames": 251
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5070f727d2456462eb4677a625176302e8158092ca039c198cdbdc0bb18da092",
+    "visual_seed": 7183875238875911733,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09d7266689ff4428fb7865a4895426bd3c2c8b6c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_79_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28458583535387927,
+              0.21495183123939607,
+              1.0019755323576733
+            ],
+            "current_z": 1.0019755323576733,
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+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14086908394755226,
+            "gripper_z": 1.0037069145827076,
+            "force_virtual_attach": false,
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+            "gripper_position": [
+              0.2794406549854699,
+              0.20999008940354771,
+              1.0037069145827076
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+              0.0051451803684093855,
+              0.0049617418358483545,
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+            "object_to_gripper_xy": 0.007147850241091593,
+            "object_to_gripper_z": -0.001731382225034217,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28458583535387927,
+              0.19060280623481646,
+              1.0019755323576733
+            ],
+            "finger_b": [
+              0.2724130442105676,
+              0.21495183123939607,
+              1.0019755323576733
+            ],
+            "finger_midpoint": [
+              0.27849943978222347,
+              0.20277731873710625,
+              1.0019755323576733
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060863955716558005,
+              0.01217451250228982,
+              0.0
+            ],
+            "finger_gap": 0.027222267776442318,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0519204688567383,
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+            "fingertip_min_top_clearance": 0.014983480949719484,
+            "object_projection_between_fingers": 0.8000452442824291,
+            "object_to_finger_line_xy": 0.010887983262750681,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812896731158996,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0687080451101623,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              0.7611062802561753
+            ],
+            "target_position": [
+              0.2600285210743229,
+              0.211883321807723,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003267930062925274,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.213446522851428,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611062802561753,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574984777402348,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08774924694853957,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18257780407535157,
+            "release_required_pad_clearance": 0.05387462347426979,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7588344716095756,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "460121d9b8b7b6199fc86d9f1664e5594c904c5889196da1f97382245806e346",
+    "visual_seed": 8523734517115430017,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1250c36e1ae311d2c9002fe56be5af5b289d9a76
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_7_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2904692854137398,
+              0.21308213569616474,
+              1.0004780989154511
+            ],
+            "current_z": 1.0004780989154511,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1393713524821062,
+            "gripper_z": 1.002183924936871,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2850372124446016,
+              0.20817077732913725,
+              1.002183924936871
+            ],
+            "object_minus_gripper": [
+              0.005432072969138169,
+              0.004911358367027496,
+              -0.0017058260214197762
+            ],
+            "object_to_gripper_xy": 0.007323172656124704,
+            "object_to_gripper_z": -0.0017058260214197762,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2904692854137398,
+              0.18820393747048117,
+              1.0004780989154511
+            ],
+            "finger_b": [
+              0.2787700053698249,
+              0.21308213569616474,
+              1.0004780989154511
+            ],
+            "finger_midpoint": [
+              0.2846196453917823,
+              0.20064303658332294,
+              1.0004780989154511
+            ],
+            "object_minus_finger_midpoint": [
+              0.005849640021957481,
+              0.0124390991128418,
+              0.0
+            ],
+            "finger_gap": 0.027491778780252666,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010587056238040354,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810161221940594,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8331967517415256,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.36573622739378864,
+              0.006979041590027589,
+              0.7701463897966117
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+              -0.0074944052519475,
+              1.0260964666662702
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+            "held_minus_gripper": [
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+              0.004818490482564908,
+              -0.0017428319910848256
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+            "max_held_gripper_dist": 0.007572954998866549,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0260964666662702,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.21432101508088,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 1.4740331958868538,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.001046811646607,
+            "max_source_tilt_deg": 89.75443391160826,
+            "source_upright_tilt_deg": 1.6986282357604705,
+            "max_source_upright_tilt_deg": 89.85510977753309,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.001046811646607,
+            "source_upright_return_tilt_deg": 1.6986282357604705,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.41936196213324e-08,
+            "max_target_xy_drift": 1.5732737179834625e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.007,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.007,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+                0.2
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+              "wrist_compensated_return_position": -1.6066054105758667
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_controller_t": 0.0,
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
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+              "approach_xy_threshold_m": 0.08,
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+                -0.0005806301439873916,
+                -3.4017373004199044e-05
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_step_error_deg": 2.0010557377616163,
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+            "pour_controller_source_return_best_wrist_position": -1.6066054105758667,
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+            "pour_controller_wrist_compensated_return_position": -1.6066054105758667,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014513273933426135,
+            "valid_pour_held_xy_dist": 0.010617514782040864,
+            "valid_pour_held_gripper_dist": 0.007511046564568112,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0243536346751854,
+            "valid_pour_source_tilt_deg": 2.001046811646607,
+            "valid_pour_source_upright_tilt_deg": 1.6986282357604705,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.41936196213324e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37015362910121136,
+              -0.027216508104524036,
+              1.0243536346751854
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3587572423000973,
+              -0.002675914769382592,
+              1.0243536346751854
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3644554357006543,
+              -0.014946211436953315,
+              1.0243536346751854
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37015362910121136,
+              -0.002675914769382592,
+              1.0243536346751854
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027057685661589666,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02461281447494204,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.00728343325187787,
+              -0.999560577748442,
+              0.028733308394029433
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005798105013187358,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03749684765520254,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37015362910121136,
+              -0.027216508104524036,
+              1.0243536346751854
+            ],
+            "held_grasp_finger_b": [
+              0.3587572423000973,
+              -0.002675914769382592,
+              1.0243536346751854
+            ],
+            "held_grasp_midpoint": [
+              0.3644554357006543,
+              -0.014946211436953315,
+              1.0243536346751854
+            ],
+            "held_grasp_object_position": [
+              0.37015362910121136,
+              -0.002675914769382592,
+              1.0243536346751854
+            ],
+            "held_grasp_finger_gap": 0.027057685661589666,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02461281447494204,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.00728343325187787,
+              -0.999560577748442,
+              0.028733308394029433
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005798105013187358,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03749684765520254,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2719141992421137,
+              0.2159703624517454,
+              0.7611243636231382
+            ],
+            "target_position": [
+              0.2656347524008328,
+              0.21052487620706065,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00831172503596717,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21924118476333626,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611243636231382,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559664533413253,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09112493969641881,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18943783544384488,
+            "release_required_pad_clearance": 0.05556246984820941,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.207364286806999,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ffab12668d94342ec13d79652cb062d1a86545273b626c2faae2e21bbe0e1ded",
+    "visual_seed": 2708580604306645929,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c1a66ea6504b631b092a267cfd6c013a8a248f8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_80_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+            "held_grasp_finger_a": [
+              0.36862966106380507,
+              -0.019701000556519882,
+              1.0231343975696952
+            ],
+            "held_grasp_finger_b": [
+              0.3572263752276777,
+              0.004780459409563231,
+              1.0231343975696952
+            ],
+            "held_grasp_midpoint": [
+              0.3629280181457414,
+              -0.007460270573478325,
+              1.0231343975696952
+            ],
+            "held_grasp_object_position": [
+              0.36862966106380507,
+              0.004780459409563231,
+              1.0231343975696952
+            ],
+            "held_grasp_finger_gap": 0.027006977060221926,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024492342238622473,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.00180705212704892,
+              -0.9996027990405951,
+              0.028124343775772775
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005734088254663754,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03749468528270935,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2644486527658359,
+              0.20352821476008998,
+              0.7611064083131643
+            ],
+            "target_position": [
+              0.26167225528484844,
+              0.20500548510057515,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00314495002047897,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2164119439033537,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064083131643,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552628709155026,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587015606299357,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18544914323850342,
+            "release_required_pad_clearance": 0.05293507803149679,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9074060729564012,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4415699778717d8f237e8176634b7748f2e78c830f56f13a54b845c1f19f5079",
+    "visual_seed": 8195351905610503355,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f49fba86cbc92a379ed41d1c821899a84a71393
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_81_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.2843546839455145,
+              0.21447619698232162,
+              1.0019126956241533
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+            "current_z": 1.0019126956241533,
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+            "lift_margin": 0.1408063068186769,
+            "gripper_z": 1.0040940578294444,
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+            "gripper_position": [
+              0.27891849272111946,
+              0.20951895608972554,
+              1.0040940578294444
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+              0.004957240892596082,
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+            "object_to_gripper_z": -0.002181362205291082,
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+              0.2843546839455145,
+              0.1896471334807634,
+              1.0019126956241533
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+              0.21447619698232162,
+              1.0019126956241533
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+              0.278441669270422,
+              0.2020616652315425,
+              1.0019126956241533
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+              0.012414531750779112,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010676809987479162,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479978506706147,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6333196478537808,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+            "release_min_pad_clearance": 0.18865404053684875,
+            "release_required_pad_clearance": 0.053401719425534844,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8152556314971764,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84a92363bca2fb9a1b64f5f329f6987b9796a62c3f39795ce2b9b3c59e554fd1",
+    "visual_seed": 8515670263367305650,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..024cf07161e44ddecc8aaad9caa67a6c2645dc6d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_82_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2869309203105353,
+              0.20966556816554602,
+              1.0040701288363212
+            ],
+            "current_z": 1.0040701288363212,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.14296338240297612,
+            "gripper_z": 1.0053555543693133,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2817549899620461,
+              0.204884677874142,
+              1.0053555543693133
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+              0.004780890291404022,
+              -0.0012854255329921571
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+            "object_to_gripper_xy": 0.007046074577440444,
+            "object_to_gripper_z": -0.0012854255329921571,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2869309203105353,
+              0.18494256735638417,
+              1.0040701288363212
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+            "finger_b": [
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+              0.20966556816554602,
+              1.0040701288363212
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+            "finger_midpoint": [
+              0.2811920304398031,
+              0.1973040677609651,
+              1.0040701288363212
+            ],
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+              0.005738889870732178,
+              0.012361500404580922,
+              0.0
+            ],
+            "finger_gap": 0.02725740627432085,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048037282146546,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+              ],
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.016754045008353965,
+              0.7701463897966117
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+              0.0008931712726634872,
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+              0.005758680409007198,
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+              0.004865509136343711,
+              -0.001306271341465326
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
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+            "gripper_z": 1.0294935840061865,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2042738068118,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_upright_tilt_deg": 89.86307758625153,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.040374243531097,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 8.429369702178807e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.7701
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+              "controller_target_position": [
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+                0.7701
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+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+              "wrist_compensated_return_position": -1.60652756690979
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_controller_t": 0.0,
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+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
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+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
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+              "approach_xy_threshold_m": 0.08,
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+                -0.0007941520442066837,
+                0.0011151490294672183
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.8329155933904375,
+            "pour_controller_source_return_step_error_deg": 2.040629147627352,
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+            "pour_controller_source_return_best_wrist_position": -1.60652756690979,
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+            "pour_controller_wrist_compensated_return_position": -1.60652756690979,
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
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+            "valid_pour_held_xy_dist": 0.01118245897936538,
+            "valid_pour_held_gripper_dist": 0.00715406204896929,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0281873126647212,
+            "valid_pour_source_tilt_deg": 2.040374243531097,
+            "valid_pour_source_upright_tilt_deg": 2.832696353923794,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 8.429369702178807e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37600384836878536,
+              -0.018104269398030615,
+              1.0281873126647212
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3641461198963444,
+              0.005758680409007198,
+              1.0281873126647212
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3700749841325649,
+              -0.006172794494511708,
+              1.0281873126647212
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37600384836878536,
+              0.005758680409007198,
+              1.0281873126647212
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02664669018882727,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024287563744510493,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.038268031042549396,
+              -0.9987781064771709,
+              0.03127062234755884
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00639180661870156,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.038030240119117306,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37600384836878536,
+              -0.018104269398030615,
+              1.0281873126647212
+            ],
+            "held_grasp_finger_b": [
+              0.3641461198963444,
+              0.005758680409007198,
+              1.0281873126647212
+            ],
+            "held_grasp_midpoint": [
+              0.3700749841325649,
+              -0.006172794494511708,
+              1.0281873126647212
+            ],
+            "held_grasp_object_position": [
+              0.37600384836878536,
+              0.005758680409007198,
+              1.0281873126647212
+            ],
+            "held_grasp_finger_gap": 0.02664669018882727,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024287563744510493,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.038268031042549396,
+              -0.9987781064771709,
+              0.03127062234755884
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00639180661870156,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038030240119117306,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24237124938111226,
+              0.20723194735010045,
+              0.7611071026147429
+            ],
+            "target_position": [
+              0.2622869478691354,
+              0.20540616896372973,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01999921280905792,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20227381779125883,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611071026147429,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558312091145923,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08728252645230274,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17415063236788286,
+            "release_required_pad_clearance": 0.05364126322615137,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2924009950637334,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 262,
+            "max_placed_release_frames": 262
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1502c44e2f8bb11fb8f6ffaa0534a310683a5fb2641c39b518a06af7da1b75a2",
+    "visual_seed": 6264354534081010942,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ced7317f99d4294bdf2b2f007de96539ebe425f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_83_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2857190338077148,
+              0.210137577525503,
+              1.0007946474843608
+            ],
+            "current_z": 1.0007946474843608,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.13968813946959469,
+            "gripper_z": 1.0023568188871574,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28040754146623836,
+              0.20520951025961418,
+              1.0023568188871574
+            ],
+            "object_minus_gripper": [
+              0.0053114923414764315,
+              0.004928067265888819,
+              -0.001562171402796686
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.005587212175844812,
+              -0.9987154120928208,
+              0.050361778248683486
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005788285238733993,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03775630446061218,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.257045234147074,
+              0.21170375107609704,
+              0.7611063338302234
+            ],
+            "target_position": [
+              0.26086825483650905,
+              0.20721103043251146,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005899154682931162,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21420997105963502,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063338302234,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532462826918204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600070652835458,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.185365357879412,
+            "release_required_pad_clearance": 0.05300035326417729,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0339975341900443,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "119490d50030ab1c29a5d4e3aa3db240d2ce9555ccf9c9c2abaa5656cb8abf10",
+    "visual_seed": 4267974212155012613,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc8c9688d424deb28189d284b3951a100af4321f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_84_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.28988070111848424,
+              0.21413613186539904,
+              1.0009893689571103
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+            "current_z": 1.0009893689571103,
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+            "gripper_z": 1.0023224418643608,
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+            "gripper_position": [
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+              0.2091630762135272,
+              1.0023224418643608
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+              0.004973055651871838,
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+              0.1896367047427698,
+              1.0009893689571103
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+              0.21413613186539904,
+              1.0009893689571103
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+              0.20188641830408444,
+              1.0009893689571103
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.010542212842635892,
+              0.7701465686105463
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+              -0.0050284500032976714,
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+            "target_minus_gripper": [
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+            "held_position": [
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+            "held_minus_target": [
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+              -0.010779149947842412,
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5cb2af0172c9cac433afc5fb7ff370fcb5af81aed7fd5d3dee90dde4a1d5a116",
+    "visual_seed": 6407600331936275763,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1108b29b5b52b3f5d29014940445eb6ddff1f1c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_86_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2820418581267527,
+              0.2091730380039488,
+              1.0017360677795892
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+            "current_z": 1.0017360677795892,
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+            "lift_margin": 0.1406294405555335,
+            "gripper_z": 1.0037202241255618,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.20431175952132608,
+              1.0037202241255618
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+              0.004861278482622716,
+              -0.0019841563459725986
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+            "object_to_gripper_xy": 0.007236349813608689,
+            "object_to_gripper_z": -0.0019841563459725986,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2820418581267527,
+              0.1843245706496229,
+              1.0017360677795892
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+            "finger_b": [
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+              0.2091730380039488,
+              1.0017360677795892
+            ],
+            "finger_midpoint": [
+              0.2762393639590096,
+              0.19674880432678585,
+              1.0017360677795892
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+              0.005802494167743089,
+              0.012424233677162944,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_min_top_clearance": 0.014996447985701688,
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+            "object_to_finger_line_xy": 0.010514778891419375,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815831012779001,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7487261378696656,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.0127329070555494,
+              0.7701463897966115
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+            "gripper_position": [
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+              -0.0020860896741062285,
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+            "held_minus_target": [
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+            "held_minus_gripper": [
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+              0.00479437616177688,
+              -0.0020332598188934625
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+            "xy_threshold": 0.15,
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+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.20697173153395,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.9630124842708976,
+            "max_source_tilt_deg": 89.78348363704815,
+            "source_upright_tilt_deg": 3.116663026042675,
+            "max_source_upright_tilt_deg": 89.99002820824283,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.9630124842708976,
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+            "target_xy_drift": 5.587935447692871e-09,
+            "max_target_xy_drift": 1.3161667307413752e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3654,
+                0.0127,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0127,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0008,
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+              "wrist_compensated_return_position": -1.6312168836593628
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0010557506451988078,
+                -0.0007562233448595377,
+                0.001282781034078387
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.1166612292190914,
+            "pour_controller_source_return_step_error_deg": 2.963026448260181,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.096953751810922,
+            "pour_controller_source_return_best_wrist_position": -1.6312168836593628,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6312168836593628,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014914361642704486,
+            "valid_pour_held_xy_dist": 0.010683421496119101,
+            "valid_pour_held_gripper_dist": 0.0074858131038538995,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0251656712378416,
+            "valid_pour_source_tilt_deg": 2.9630124842708976,
+            "valid_pour_source_upright_tilt_deg": 3.116663026042675,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.587935447692871e-09,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3690585821012912,
+              -0.02120598619297373,
+              1.0251656712378416
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3575607896089438,
+              0.002708286487670651,
+              1.0251656712378416
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36330968585511747,
+              -0.00924884985265154,
+              1.0251656712378416
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3690585821012912,
+              0.002708286487670651,
+              1.0251656712378416
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02653472573895,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024114386500570954,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.020480895319743536,
+              -0.998520914058743,
+              0.05036384729341091
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00602246905778672,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037898541904253485,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3690585821012912,
+              -0.02120598619297373,
+              1.0251656712378416
+            ],
+            "held_grasp_finger_b": [
+              0.3575607896089438,
+              0.002708286487670651,
+              1.0251656712378416
+            ],
+            "held_grasp_midpoint": [
+              0.36330968585511747,
+              -0.00924884985265154,
+              1.0251656712378416
+            ],
+            "held_grasp_object_position": [
+              0.3690585821012912,
+              0.002708286487670651,
+              1.0251656712378416
+            ],
+            "held_grasp_finger_gap": 0.02653472573895,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024114386500570954,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.020480895319743536,
+              -0.998520914058743,
+              0.05036384729341091
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00602246905778672,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037898541904253485,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2552793172466859,
+              0.2040669878482253,
+              0.7611064780807109
+            ],
+            "target_position": [
+              0.2570886800372055,
+              0.2075551590892715,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003929520621472616,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2133479113342632,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064780807109,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578074692432328,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498267157051857,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18173433337213368,
+            "release_required_pad_clearance": 0.05249133578525929,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.055952848772553555,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f29b1c12c31d87398349949334334d27a9b374d7b72b64b169cb5ee639329374",
+    "visual_seed": 7961751864690222025,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbb42f828632ad961e85c3cdc355009a0e4ed4d0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_87_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2829128861339601,
+              0.2107664642851319,
+              1.0018321632532972
+            ],
+            "current_z": 1.0018321632532972,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1407255956338863,
+            "gripper_z": 1.0037822005193842,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2777184605903673,
+              0.20592764121709783,
+              1.0037822005193842
+            ],
+            "object_minus_gripper": [
+              0.005194425543592784,
+              0.0048388230680340705,
+              -0.0019500372660870013
+            ],
+            "object_to_gripper_xy": 0.007099032709578668,
+            "object_to_gripper_z": -0.0019500372660870013,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2829128861339601,
+              0.1861058242037622,
+              1.0018321632532972
+            ],
+            "finger_b": [
+              0.2712710317786288,
+              0.2107664642851319,
+              1.0018321632532972
+            ],
+            "finger_midpoint": [
+              0.27709195895629446,
+              0.19843614424444705,
+              1.0018321632532972
+            ],
+            "object_minus_finger_midpoint": [
+              0.005820927177665636,
+              0.01233032004068485,
+              0.0
+            ],
+            "finger_gap": 0.027270495816057387,
+            "fingertip_max_gap": 0.09075841180786084,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2561007676108955,
+              0.2142912606548219,
+              0.7611063256105022
+            ],
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+              0.25826299087842425,
+              0.2089816205382449,
+              0.7774145980897915
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2137252488931498,
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+            "gripper_away_ok": true,
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+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551266788714837,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602386523828708,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18453318831090507,
+            "release_required_pad_clearance": 0.05301193261914354,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0564622442953624,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2a5fada674dd4b6561535af7e27e450bb7b7494b2e2d1715fef5a0640dad03d",
+    "visual_seed": 2955922610094593646,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c9e971d28b9df76649fb63b400be286c3d7b61
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_88_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "failed_keys": [],
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+          "failure_messages": {},
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+              "allowed_object_paths": [
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
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+                "contact_sensor",
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "227dfc3a3fe82d2a203f282c07b27d65df30440bdc8a0215301f45a1fae341ae",
+    "visual_seed": 3017176127272000665,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b460d39f41b3065b9800e5b856f31b5647121bc3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_89_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.2870881759350168,
+              0.2096617532749735,
+              1.004378303617926
+            ],
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+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.14327173599851528,
+            "gripper_z": 1.0059171632412782,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2816892929425372,
+              0.2046969885465526,
+              1.0059171632412782
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+              0.0049647647284208896,
+              -0.0015388596233523177
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+            "object_to_gripper_xy": 0.00733463198634107,
+            "object_to_gripper_z": -0.0015388596233523177,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2870881759350168,
+              0.18488981418648573,
+              1.004378303617926
+            ],
+            "finger_b": [
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+              0.2096617532749735,
+              1.004378303617926
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+            "finger_midpoint": [
+              0.28115018168311534,
+              0.19727578373072963,
+              1.004378303617926
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+              0.005937994251901446,
+              0.012385969544243869,
+              0.0
+            ],
+            "finger_gap": 0.027471586578612574,
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+            "finger_z_skew": 0.0,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_to_finger_line_xy": 0.010708928768636265,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803813287256427,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 173,
+            "max_stable_success_frames": 173,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.007291165503345508,
+              0.7701465686105463
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+            "gripper_position": [
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+              -0.006055484408984374,
+              1.0250111584684332
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+            "held_minus_target": [
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+              0.004871304038701759,
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+            "max_held_gripper_dist": 0.007533384576516026,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701465686105463,
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+            "required_height": 0.8001465686105463,
+            "gripper_z": 1.0250111584684332,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.2159124491575,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8654597557769013,
+            "max_source_tilt_deg": 89.90757358810697,
+            "source_upright_tilt_deg": 1.5549747320710652,
+            "max_source_upright_tilt_deg": 89.86885388194074,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8654597557769013,
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+            "target_xy_drift": 7.962808012962341e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0073,
+                0.7701
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+              "controller_target_position": [
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+                0.0073,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+              "pour_pose_offset": [
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.2
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_t": 0.0,
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+              0.0904
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
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+              "pour_height_range_m": [
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+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.5549844663187762,
+            "pour_controller_source_return_step_error_deg": 1.8654760188811412,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
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+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6073728799819946,
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.013457958684712987,
+            "valid_pour_held_xy_dist": 0.009261868879309852,
+            "valid_pour_held_gripper_dist": 0.007486550968726326,
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+            "valid_pour_held_z": 1.023435939692682,
+            "valid_pour_source_tilt_deg": 1.8654597557769013,
+            "valid_pour_source_upright_tilt_deg": 1.5549747320710652,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.962808012962341e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.37637282706846686,
+              -0.025623893762445393,
+              1.023435939692682
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.364828599584636,
+              -0.0011841803702826153,
+              1.023435939692682
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3706007133265514,
+              -0.013404037066364005,
+              1.023435939692682
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.37637282706846686,
+              -0.0011841803702826153,
+              1.023435939692682
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02702903584831499,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024484980191229175,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0047007555153377525,
+              -0.9996317554218366,
+              0.02672557669803821
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005838613065129314,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03753202656549541,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37637282706846686,
+              -0.025623893762445393,
+              1.023435939692682
+            ],
+            "held_grasp_finger_b": [
+              0.364828599584636,
+              -0.0011841803702826153,
+              1.023435939692682
+            ],
+            "held_grasp_midpoint": [
+              0.3706007133265514,
+              -0.013404037066364005,
+              1.023435939692682
+            ],
+            "held_grasp_object_position": [
+              0.37637282706846686,
+              -0.0011841803702826153,
+              1.023435939692682
+            ],
+            "held_grasp_finger_gap": 0.02702903584831499,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024484980191229175,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0047007555153377525,
+              -0.9996317554218366,
+              0.02672557669803821
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005838613065129314,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03753202656549541,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2600120155594999,
+              0.21092748073453946,
+              0.7611063997036854
+            ],
+            "target_position": [
+              0.2622665062848889,
+              0.20817773821112126,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003555813883762676,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21237294019781736,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063997036854,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529810496293124,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08769930921346099,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1833575089785209,
+            "release_required_pad_clearance": 0.053849654606730496,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7087271814924962,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 260,
+            "max_placed_release_frames": 260
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70d046182e255c2aaf5e1d3d429878cd45dc4f7f40ba4ae9edc8c072dbece11a",
+    "visual_seed": 1189699035834978853,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc8f280aa3308d784eadb28323ca072aee020b72
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_8_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2826854188252503,
+              0.20982794746550507,
+              1.0024820105704437
+            ],
+            "current_z": 1.0024820105704437,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.14137556216032243,
+            "gripper_z": 1.004145598066773,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2773722857666646,
+              0.20493457491671732,
+              1.004145598066773
+            ],
+            "object_minus_gripper": [
+              0.005313133058585662,
+              0.004893372548787744,
+              -0.001663587496329333
+            ],
+            "object_to_gripper_xy": 0.00722319027850335,
+            "object_to_gripper_z": -0.001663587496329333,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2826854188252503,
+              0.18508034321356917,
+              1.0024820105704437
+            ],
+            "finger_b": [
+              0.2709501665474331,
+              0.20982794746550507,
+              1.0024820105704437
+            ],
+            "finger_midpoint": [
+              0.27681779268634166,
+              0.19745414533953712,
+              1.0024820105704437
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058676261389086215,
+              0.012373802125967948,
+              0.0
+            ],
+            "finger_gap": 0.027389050042570827,
+            "fingertip_max_gap": 0.09096766764367623,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013694525021285426,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0024820105704437,
+            "object_top_z": 1.0523124230243783,
+            "finger_top_clearance": 0.0498304124539346,
+            "fingertip_min_top_clearance": 0.01494912373618038,
+            "object_projection_between_fingers": 0.8164176514358708,
+            "object_to_finger_line_xy": 0.010603484922501875,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047983833821838115,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7390946021819618,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
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+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25226093323248794,
+              0.20493005825324093,
+              0.7611065616300344
+            ],
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+              0.25779545583194574,
+              0.2068508583342618,
+              0.7774145980897915
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+            "object_z": 0.7611065616300344,
+            "min_z": 0.5774145980897916,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570879464279569,
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+            "release_fingertip_min_gap": 0.08561530550652098,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18296708683245694,
+            "release_required_pad_clearance": 0.05280765275326049,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6608611986421097,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 265,
+            "max_placed_release_frames": 265
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "90beb5f2acc0d65609e5c7cdaefada243fc617dbd20a7c9ac1499faa1217b5cf",
+    "visual_seed": 4817704794755384979,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2670e056042ad4b9cf9d108707f8341e48ebdfb6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_90_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+          "skill": "pick",
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+          "failed_keys": [],
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+          "failure_messages": {},
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+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+    {
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+      "skill": "pour",
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+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "metrics": {
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+            "missing_end_effector_orientation_samples": 0,
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+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99088f6ffb91f48e8fa5493372fb8c2146a8b83046d0b0aa2522df6bd8f98408",
+    "visual_seed": 8924449290879866097,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6b28e1cd27c34f0751d29f17b5c2c3ee00e9741
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_91_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+          "metrics": {
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+              0.2831114284281411,
+              0.2162726032474173,
+              1.0006909781470084
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+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.13958458934153184,
+            "gripper_z": 1.0025580544391557,
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+              0.21150844980912478,
+              1.0025580544391557
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+              0.004764153438292507,
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+            "object_to_gripper_z": -0.0018670762921473294,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2831114284281411,
+              0.19176655458739073,
+              1.0006909781470084
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+              0.2162726032474173,
+              1.0006909781470084
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+              0.20401957891740402,
+              1.0006909781470084
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+              0.012253024330013268,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.00854609426730134,
+              0.7701465090059011
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+              -0.006639727241518192,
+              1.0270074979381603
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_upright_reference_source": "scene_initial",
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+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+                0.7701
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+                -0.0,
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+              "resolved_tilt_axis_world": null,
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+              "wrist_joint_name": "wrist_3_joint",
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+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                "pour_height_range_m": [
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_step_error_deg": 2.0397538847984578,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
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+            "pour_controller_wrist_compensated_return_position": -1.607865810394287,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
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+            ],
+            "valid_pour_xy_dist": 0.0156751439887226,
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+            "valid_pour_required_height": 0.8001465090059011,
+            "valid_pour_held_z": 1.0251051317533393,
+            "valid_pour_source_tilt_deg": 2.0397419551583815,
+            "valid_pour_source_upright_tilt_deg": 1.6373256600827528,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.218731509939544e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36706993391656395,
+              -0.02633084017258733,
+              1.0251051317533393
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3560786720428527,
+              -0.002024697656068641,
+              1.0251051317533393
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36157430297970833,
+              -0.014177768914327985,
+              1.0251051317533393
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36706993391656395,
+              -0.002024697656068641,
+              1.0251051317533393
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026675764311633435,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024146259081290557,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.01364353999872917,
+              -0.9995917199032753,
+              0.025104726987462467
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0053380885440436,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037497160808439296,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36706993391656395,
+              -0.02633084017258733,
+              1.0251051317533393
+            ],
+            "held_grasp_finger_b": [
+              0.3560786720428527,
+              -0.002024697656068641,
+              1.0251051317533393
+            ],
+            "held_grasp_midpoint": [
+              0.36157430297970833,
+              -0.014177768914327985,
+              1.0251051317533393
+            ],
+            "held_grasp_object_position": [
+              0.36706993391656395,
+              -0.002024697656068641,
+              1.0251051317533393
+            ],
+            "held_grasp_finger_gap": 0.026675764311633435,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024146259081290557,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01364353999872917,
+              -0.9995917199032753,
+              0.025104726987462467
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0053380885440436,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037497160808439296,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24701843513827398,
+              0.2171741237885099,
+              0.76111167223598
+            ],
+            "target_position": [
+              0.258689661096277,
+              0.21218983154073365,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.012690968622371021,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20626200495651129,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.76111167223598,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523823199851047,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08923863141833295,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17852698784946155,
+            "release_required_pad_clearance": 0.05461931570916648,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.257245930649124,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 264,
+            "max_placed_release_frames": 264
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69e6d1b911da7ccfbf6cbb408f70ba9429df6a1f01c2e21279be24ab5e89473a",
+    "visual_seed": 5028207816690033112,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c047d3f1f671eccb5f2b9b39c06ef5b09a0d85a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_92_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28496836046965685,
+              0.20743136945765847,
+              1.0037931371399722
+            ],
+            "current_z": 1.0037931371399722,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.1426864503112718,
+            "gripper_z": 1.005652750830657,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2796633336548599,
+              0.20255660650226753,
+              1.005652750830657
+            ],
+            "object_minus_gripper": [
+              0.005305026814796943,
+              0.004874762955390938,
+              -0.0018596136906847693
+            ],
+            "object_to_gripper_xy": 0.007204625137851822,
+            "object_to_gripper_z": -0.0018596136906847693,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28496836046965685,
+              0.1826839500052169,
+              1.0037931371399722
+            ],
+            "finger_b": [
+              0.27325636109474993,
+              0.20743136945765847,
+              1.0037931371399722
+            ],
+            "finger_midpoint": [
+              0.27911236078220336,
+              0.19505765973143768,
+              1.0037931371399722
+            ],
+            "object_minus_finger_midpoint": [
+              0.005855999687453484,
+              0.012373709726220788,
+              0.0
+            ],
+            "finger_gap": 0.027378928008833795,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01368946400441691,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0037931371399722,
+            "object_top_z": 1.0537600984871205,
+            "finger_top_clearance": 0.049966961347148287,
+            "fingertip_min_top_clearance": 0.014990088404144501,
+            "object_projection_between_fingers": 0.817009222906458,
+            "object_to_finger_line_xy": 0.01058630787385239,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048256300616627376,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.004806375042386,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 174,
+            "max_stable_success_frames": 174,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "split_aloha",
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+                "ur5e",
+                "visuals",
+                "wrist",
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+                "wrist_2_joint",
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+                "defaultgroundplane",
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+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26596457041304256,
+              0.2065874925340269,
+              0.761106660976914
+            ],
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+              0.26013498928243534,
+              0.20527792510310125,
+              0.7774145980897915
+            ],
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18800330813617994,
+            "release_required_pad_clearance": 0.05433538977013855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.692415869415645,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0936f878e6127b933bcbe8be6a2969c1424ed71719f891cf01a327672252534d",
+    "visual_seed": 8948360781060268169,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcea57a4228219b59fe5e8c5f4b15b39a56d850a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_93_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+          }
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "max_source_tilt_deg": 89.85587470383922,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "target_xy_drift": 2.9933003112651774e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d657827172fd516c704baa573052a195144db2a83988982f3b3820761035e32e",
+    "visual_seed": 8001542740134351901,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45502e343e8b1c006ce7737b77ef77f588f69578
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_94_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
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+                {
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+        "ordinary_object_physical_only": true
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+              "skill": "pour",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+              0.3660052565186035,
+              -0.025259524777126643,
+              1.025070728079167
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3546586773204232,
+              -0.0008727712751604843,
+              1.025070728079167
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.36033196691951336,
+              -0.013066148026143563,
+              1.025070728079167
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3660052565186035,
+              -0.0008727712751604843,
+              1.025070728079167
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02689718583544078,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02445078819840958,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.006450072771626162,
+              -0.9996247321279103,
+              0.02662313804653149
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005760945767553399,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03756804223242755,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3660052565186035,
+              -0.025259524777126643,
+              1.025070728079167
+            ],
+            "held_grasp_finger_b": [
+              0.3546586773204232,
+              -0.0008727712751604843,
+              1.025070728079167
+            ],
+            "held_grasp_midpoint": [
+              0.36033196691951336,
+              -0.013066148026143563,
+              1.025070728079167
+            ],
+            "held_grasp_object_position": [
+              0.3660052565186035,
+              -0.0008727712751604843,
+              1.025070728079167
+            ],
+            "held_grasp_finger_gap": 0.02689718583544078,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02445078819840958,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.006450072771626162,
+              -0.9996247321279103,
+              0.02662313804653149
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005760945767553399,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03756804223242755,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2572091356173778,
+              0.20550654700803786,
+              0.7611063146207635
+            ],
+            "target_position": [
+              0.2579451591607234,
+              0.2086161344330434,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0031955069410207126,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21443279836865345,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063146207635,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515595556282036,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08802445236931021,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1840873709431575,
+            "release_required_pad_clearance": 0.05401222618465511,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0357597288929927,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1eb8da5fe2fa09e0a202f31846f800f5c5f6c690f370b64979c7da29e6296028",
+    "visual_seed": 8463611108311246829,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..091f6bb7e8f753c828cf9893eb8e660bed13471a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_95_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2871821553217858,
+              0.21170684710508833,
+              1.0010934992781446
+            ],
+            "current_z": 1.0010934992781446,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.13998687205408888,
+            "gripper_z": 1.0027180934743511,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2822033692580702,
+              0.20681996803383335,
+              1.0027180934743511
+            ],
+            "object_minus_gripper": [
+              0.004978786063715601,
+              0.004886879071254985,
+              -0.0016245941962065302
+            ],
+            "object_to_gripper_xy": 0.006976381420573181,
+            "object_to_gripper_z": -0.0016245941962065302,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2871821553217858,
+              0.1874830763650383,
+              1.0010934992781446
+            ],
+            "finger_b": [
+              0.27509447934900977,
+              0.21170684710508833,
+              1.0010934992781446
+            ],
+            "finger_midpoint": [
+              0.2811383173353978,
+              0.1995949617350633,
+              1.0010934992781446
+            ],
+            "object_minus_finger_midpoint": [
+              0.006043837986388023,
+              0.012111885370025027,
+              0.0
+            ],
+            "finger_gap": 0.02707218091121089,
+            "fingertip_max_gap": 0.0914293580246909,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013536090455605455,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0010934992781446,
+            "object_top_z": 1.0510030785974571,
+            "finger_top_clearance": 0.0499095793193125,
+            "fingertip_min_top_clearance": 0.014972873795793767,
+            "object_projection_between_fingers": 0.8006394917857932,
+            "object_to_finger_line_xy": 0.01081586638715475,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048214679012345454,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0644855737416317,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
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+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2608209745451197,
+              0.2135249284171777,
+              0.7611066719887365
+            ],
+            "target_position": [
+              0.2627367583750782,
+              0.2092458882009718,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0046883272981989915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2151922303516462,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066719887365,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526377778945209,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085592185986986,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18622739754690018,
+            "release_required_pad_clearance": 0.052796092993493,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6379614572293837,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f58009f03ee36849892a2fa4e3043f4ce7ef48c566c3ea150cc859e1470a96f",
+    "visual_seed": 2862969955189807206,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b60df44ba58c2463cfd55536778a68d1248c7abc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_96_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2850553559492176,
+              0.21674792605392001,
+              1.0019109027798874
+            ],
+            "current_z": 1.0019109027798874,
+            "required_z": 0.8611065080147661,
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+            "lift_margin": 0.1408043947651213,
+            "gripper_z": 1.0036073923228372,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27968024791244855,
+              0.21177425715858147,
+              1.0036073923228372
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+              0.00497366889533854,
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+            "object_to_gripper_xy": 0.007323193885689311,
+            "object_to_gripper_z": -0.001696489542949875,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2850553559492176,
+              0.19201509982765383,
+              1.0019109027798874
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+            "finger_b": [
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+              0.21674792605392001,
+              1.0019109027798874
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+            "finger_midpoint": [
+              0.2791019341642465,
+              0.20438151294078694,
+              1.0019109027798874
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+              0.005953421784971102,
+              0.012366413113133079,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793067898929172,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5321000841325099,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+            },
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+          }
+        },
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.0008334353359985142,
+              1.0253311644119185
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+              0.004978969256688521,
+              -0.0017322975249167705
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+            "max_held_gripper_dist": 0.007567878928070244,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059013,
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+            "gripper_z": 1.0253311644119185,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.23006460111776,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.8741592816250154,
+            "max_source_tilt_deg": 89.70524962568392,
+            "source_upright_tilt_deg": 1.7160210937022315,
+            "max_source_upright_tilt_deg": 89.85967953864107,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.8741592816250154,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.0321666218526114e-08,
+            "max_target_xy_drift": 8.562091689229909e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 218,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 218,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3659,
+                0.0135,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0135,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              "height_range_2": [
+                0.2,
+                0.2
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+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                ],
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+                "tilt_axis_frame": "end_effector",
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+                "pour_height_range_m": [
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "source_return_best_wrist_position": -1.6090586185455322,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6090586185455322
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              0.0135,
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+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0011,
+              -0.0011
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
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+            "pour_controller_height_range_1": [
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+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                0.0010988401920481315,
+                -0.0011267030008225043
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.7160245425090295,
+            "pour_controller_source_return_step_error_deg": 1.874162540623901,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.8923719832499726,
+            "pour_controller_source_return_best_wrist_position": -1.6090586185455322,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6090586185455322,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.012778817764506678,
+            "valid_pour_held_xy_dist": 0.008483951093717926,
+            "valid_pour_held_gripper_dist": 0.007507242664021637,
+            "valid_pour_required_height": 0.8001465090059013,
+            "valid_pour_held_z": 1.0235988668870017,
+            "valid_pour_source_tilt_deg": 1.8741592816250154,
+            "valid_pour_source_upright_tilt_deg": 1.7160210937022315,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.0321666218526114e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.36954920054214435,
+              -0.01825892399619672,
+              1.0235988668870017
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3575378995005737,
+              0.005812404592687035,
+              1.0235988668870017
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.363543550021359,
+              -0.006223259701754842,
+              1.0235988668870017
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.36954920054214435,
+              0.005812404592687035,
+              1.0235988668870017
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02690167676456709,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024273796093787964,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.017755172465280515,
+              -0.9995515321648567,
+              0.024114070531868093
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.006225108337526094,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03779661474472657,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.36954920054214435,
+              -0.01825892399619672,
+              1.0235988668870017
+            ],
+            "held_grasp_finger_b": [
+              0.3575378995005737,
+              0.005812404592687035,
+              1.0235988668870017
+            ],
+            "held_grasp_midpoint": [
+              0.363543550021359,
+              -0.006223259701754842,
+              1.0235988668870017
+            ],
+            "held_grasp_object_position": [
+              0.36954920054214435,
+              0.005812404592687035,
+              1.0235988668870017
+            ],
+            "held_grasp_finger_gap": 0.02690167676456709,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024273796093787964,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.017755172465280515,
+              -0.9995515321648567,
+              0.024114070531868093
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006225108337526094,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03779661474472657,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2705140526447016,
+              0.2157037216701635,
+              0.7611063444004125
+            ],
+            "target_position": [
+              0.2602786549783358,
+              0.21319127554795814,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010539248118610298,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2218483395511744,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063444004125,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550623127455133,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08720731619117715,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19120461415507112,
+            "release_required_pad_clearance": 0.05360365809558858,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.217775320172969,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d3228ee2d5c0d335ea1fbde878cbeea58d1014c2e84b464ab004188daad5688",
+    "visual_seed": 4369199181683861654,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..15198fccfc863dc3c8b27b5fed02dd37c17b9d02
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_97_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "reason": "executed",
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+              0.20671395951400623,
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+            "stable_success_frames": 171,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+    {
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+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+            "valid_pour_pose_failed_keys": [
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+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.01319761552575548,
+              -0.999556642153999,
+              0.026689737170999206
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005511646557512705,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03743923590491361,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.375282902125143,
+              -0.018658631025811834,
+              1.0230046603485825
+            ],
+            "held_grasp_finger_b": [
+              0.36395570080477657,
+              0.005764733546851079,
+              1.0230046603485825
+            ],
+            "held_grasp_midpoint": [
+              0.3696193014649598,
+              -0.006446948739480377,
+              1.0230046603485825
+            ],
+            "held_grasp_object_position": [
+              0.375282902125143,
+              0.005764733546851079,
+              1.0230046603485825
+            ],
+            "held_grasp_finger_gap": 0.02692222551724349,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024263044234344854,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01319761552575548,
+              -0.999556642153999,
+              0.026689737170999206
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005511646557512705,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03743923590491361,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.27222672780325513,
+              0.2117471246089867,
+              0.7611066181014057
+            ],
+            "target_position": [
+              0.26390249626997275,
+              0.21445424355144185,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.008753360702512617,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.22090432746356858,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066181014057,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570347293655931,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08674326272905654,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1890941889460186,
+            "release_required_pad_clearance": 0.05337163136452827,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7583100584080142,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f11b21b1485f0152ebda5e1f57b044cf1e27bfd5d88db94f0c7ea5b6c8519f2",
+    "visual_seed": 2636142414390529700,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d51086f1f3cc52b4c138c8ae77ce0853d04fcf04
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_98_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.28719944731131464,
+              0.20738663205525473,
+              1.0016003800783047
+            ],
+            "current_z": 1.0016003800783047,
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+            "lift_margin": 0.14049363364495981,
+            "gripper_z": 1.0032313781311049,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28211656115365924,
+              0.20245664607957586,
+              1.0032313781311049
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+              0.005082886157655397,
+              0.004929985975678869,
+              -0.0016309980528002033
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+            "object_to_gripper_xy": 0.007080995227513939,
+            "object_to_gripper_z": -0.0016309980528002033,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.28719944731131464,
+              0.18308155671779439,
+              1.0016003800783047
+            ],
+            "finger_b": [
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+              0.20738663205525473,
+              1.0016003800783047
+            ],
+            "finger_midpoint": [
+              0.2811360922135047,
+              0.19523409438652456,
+              1.0016003800783047
+            ],
+            "object_minus_finger_midpoint": [
+              0.006063355097809919,
+              0.012152537668730173,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.01499224755576593,
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+            "object_to_finger_line_xy": 0.010851067712265844,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048065834857652937,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9002497336134535,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
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+              0.7611101095895149
+            ],
+            "target_position": [
+              0.26267698379420296,
+              0.2056536462624277,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.017457144667337197,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.214315068533192,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611101095895149,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552734690587803,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08801818365055715,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1805082549685507,
+            "release_required_pad_clearance": 0.05400909182527858,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0173865875226733,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff5357c87d146e5a55142eaabbb7bb52e39cf602964eb5bca124405c4cda131c",
+    "visual_seed": 8910686552297717582,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..52ac9b91be56f10c1fb39f199eb330a176949fd5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/episode_99_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2820654535889284,
+              0.20972731692655205,
+              1.0020988721399653
+            ],
+            "current_z": 1.0020988721399653,
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+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.14099230452055456,
+            "gripper_z": 1.004280577884773,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2767633940626961,
+              0.20477597553093244,
+              1.004280577884773
+            ],
+            "object_minus_gripper": [
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+              0.004951341395619618,
+              -0.0021817057448076937
+            ],
+            "object_to_gripper_xy": 0.007254489426257865,
+            "object_to_gripper_z": -0.0021817057448076937,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2820654535889284,
+              0.18509306041542015,
+              1.0020988721399653
+            ],
+            "finger_b": [
+              0.270129743180437,
+              0.20972731692655205,
+              1.0020988721399653
+            ],
+            "finger_midpoint": [
+              0.27609759838468273,
+              0.1974101886709861,
+              1.0020988721399653
+            ],
+            "object_minus_finger_midpoint": [
+              0.005967855204245698,
+              0.012317128255565968,
+              0.0
+            ],
+            "finger_gap": 0.027373486749254577,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8098762786614084,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047951804829232406,
+            "require_object_upright": true,
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+            "object_tilt_deg": 0.7431001414651321,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
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+          }
+        },
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3723977915054982,
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+              0.7701465090059012
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+            "gripper_position": [
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+              -0.004193684269756706,
+              1.0269043057892195
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+            "max_held_gripper_dist": 0.0076629356487710795,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059012,
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+            "gripper_z": 1.0269043057892195,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.22746229904399,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 1.9263948625883658,
+            "max_source_tilt_deg": 89.73158188006126,
+            "source_upright_tilt_deg": 1.5457822258366132,
+            "max_source_upright_tilt_deg": 89.91137667080221,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9263948625883658,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.979950488744812e-08,
+            "max_target_xy_drift": 1.6979979839055814e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3724,
+                0.0082,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_t": 0.0,
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+              "source_pose_held_object": "beaker_a",
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 1.9394836776199598,
+              "source_return_best_wrist_position": -1.608636498451233,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.608636498451233
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
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+              -0.0
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0018,
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+            "pour_controller_controller_last_pour_pose_position": [
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+              1.0362
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0603,
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+            ],
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+            ],
+            "pour_controller_height_range_2": [
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+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0017596348180882204,
+                0.001782890707816238,
+                0.0008039209388892212
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.5457504265301054,
+            "pour_controller_source_return_step_error_deg": 1.9263655277433058,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9394836776199598,
+            "pour_controller_source_return_best_wrist_position": -1.608636498451233,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.608636498451233,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.0125139211683844,
+            "valid_pour_held_xy_dist": 0.008459666963810822,
+            "valid_pour_held_gripper_dist": 0.007563933602843383,
+            "valid_pour_required_height": 0.8001465090059012,
+            "valid_pour_held_z": 1.0246851985216894,
+            "valid_pour_source_tilt_deg": 1.9263948625883658,
+            "valid_pour_source_upright_tilt_deg": 1.5457822258366132,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.979950488744812e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.376113490341767,
+              -0.02376116879122156,
+              1.0246851985216894
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3646688295144052,
+              0.0006051407788699083,
+              1.0246851985216894
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.37039115992808613,
+              -0.011578014006175825,
+              1.0246851985216894
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.376113490341767,
+              0.0006051407788699083,
+              1.0246851985216894
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02692020251630512,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02432798576383255,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.002573847866351669,
+              -0.9996360962918168,
+              0.02685237973845911
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057003605454150055,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03752680037232716,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.376113490341767,
+              -0.02376116879122156,
+              1.0246851985216894
+            ],
+            "held_grasp_finger_b": [
+              0.3646688295144052,
+              0.0006051407788699083,
+              1.0246851985216894
+            ],
+            "held_grasp_midpoint": [
+              0.37039115992808613,
+              -0.011578014006175825,
+              1.0246851985216894
+            ],
+            "held_grasp_object_position": [
+              0.376113490341767,
+              0.0006051407788699083,
+              1.0246851985216894
+            ],
+            "held_grasp_finger_gap": 0.02692020251630512,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02432798576383255,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.002573847866351669,
+              -0.9996360962918168,
+              0.02685237973845911
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0057003605454150055,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03752680037232716,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.24461653573739445,
+              0.2088179526633142,
+              0.761106445318606
+            ],
+            "target_position": [
+              0.25727793327648746,
+              0.206820027025487,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.012818061261253117,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2069787346707865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106445318606,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577823798265126,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0903308077382635,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17746059820048157,
+            "release_required_pad_clearance": 0.055165403869131754,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.425198246797205,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 267,
+            "max_placed_release_frames": 267
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "workflow_spec_digest": "5354a640071ef3112989b3eb9ebfeae6b397fd79547e20fd07dff1db28811c01",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ed604ca511656dbdf0c16edd53ca71e9f4a7b3578df8e4272c4704fb8e0544f1",
+    "visual_seed": 4419368475334401290,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839
+    ],
+    "runtime_workflow_digest": "1e8dbf41d34a9643b2b51008300583daa66e775b38fe3fde2909ef7b147e5c93"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/summary.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7f1d12a92210f912bdd7cbafc7e33135214e747
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00004/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "fast_3beaker_preloaded_mix_s03_pol_lou_00004",
+  "family": "fastfix_v3",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/dataset/meta/randomization_episodes.jsonl b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b6878ad3c18aca1b894bab951508978a2b7d2158
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/dataset/meta/randomization_episodes.jsonl
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d_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[-0.6653733165434321,0.18032460784648174,0.71338606911949],"aabb_xy":[[-0.6747907911132949,0.17090843070876274],[-0.6559558419735694,0.1897407849842008]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[-0.16129723517109684,-0.6861504708706794,0.71338606911949],"aabb_xy":[[-0.19984292799629788,-0.7246962419268681],[-0.1227515423458958,-0.6476046998144909]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[0.3139066264718582,1.7825231390449257,0.71338606911949],"aabb_xy":[[0.233906623207845,1.768963106736012],[0.39390662973587126,1.7960831713538388]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6762263410022912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8399.png","name":"8399"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8399.png","name":"8399"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4478.png","name":"4478"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6640.png","name":"6640"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1658.png","name":"1658"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2567.png","name":"2567"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":650.5496015045862,"rotation_z_degrees":76.82550258664892,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007875344095028396,0.0011702875261008043,-0.0032188766690100755]},{"name":"camera_2","offset_m":[-0.013987020739570352,-0.002994487710625462,-0.011467384699388683]},{"name":"camera_3","offset_m":[-0.018647772223114173,-0.012691036523340481,0.0069029376786333]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018422523981446413,-0.0010798512678212619,-0.0010012496387366446],"end_effector_yaw_offset_degrees":-0.23736149429408937},{"step_index":1,"skill":"pour","target_object":"beaker_c","waypoint_offset_m":[-0.0015635575025721273,1.0508205326381116e-05,-0.001009437778584763],"end_effector_yaw_offset_degrees":0.6880330854613783},{"step_index":2,"skill":"place","target_object":"beaker_a","waypoint_offset_m":[0.00038918991478876976,0.001585165292129054,-0.0004303509770918316],"end_effector_yaw_offset_degrees":0.2184573104129386}]}},"meta":{"task":"fast_3beaker_preloaded_mix_s03_pol_lou_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022082318803467492,-0.0005706544232000187],"position_m":[0.26839176811965326,0.11862934557679998,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004053242446190804,-0.00026154945864919395],"position_m":[0.2595532424461908,-0.10616154945864918,0.7730800627579277],"position_frame":"world"},"beaker_c":{"sampled_offset_m":[0.0009799894162515234,-0.0010131777786124415],"position_m":[0.28577998941625155,0.005486822221387558,0.7860834190843087],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00125631954561345,0.0009160913863970324],"position_m":[0.05535631954561345,0.38731609138639705,0.7158860691194898],"position_frame":"world"},"heat_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diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/resolved_config.yaml b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ff85ebae7ea5128580d05076f8de04df528a7c27
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/resolved_config.yaml
@@ -0,0 +1,254 @@
+name: fast_3beaker_preloaded_mix_s03_pol_lou_00006
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Pour beaker a into the preloaded
+    beaker c and return it upright. Place beaker a at home.
+  layout_id: layout_00006
+  reproducibility:
+    enabled: true
+    layout_id: layout_00006
+    action_seed: 613915801507398911
+    step_seeds:
+    - 103325174323403004
+    - 3963008736894911500
+    - 627831696969887324
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2706
+      - 0.2706
+      'y':
+      - 0.1192
+      - 0.1192
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2555
+      - 0.2555
+      'y':
+      - -0.1059
+      - -0.1059
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_c
+    path: /World/beaker_3
+    position_range:
+      x:
+      - 0.2848
+      - 0.2848
+      'y':
+      - 0.0065
+      - 0.0065
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.0541
+      - 0.0541
+      'y':
+      - 0.3864
+      - 0.3864
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.1995
+      - 0.1995
+      'y':
+      - -0.4224
+      - -0.4224
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.25
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: false
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      hold_grasp_pose_until_close: false
+  - skill: pour
+    target_object: beaker_c
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.006
+      - 0.002
+      - 0.012
+      - 0.01
+      - 0.009
+      - 0.01
+      pour_speed: -1.5
+      source_name: beaker
+      approach_xy_threshold: 0.08
+      tilt_position_threshold: 0.04
+      height_range_1:
+      - 0.3
+      - 0.4
+      height_range_2:
+      - 0.2
+      - 0.2
+      position_only: false
+      tilt_strategy: wrist_velocity
+      position_threshold: 0.015
+      post_return_recenter: true
+      lock_target_position: true
+      held_gripper_distances: 0.019
+  - skill: place
+    target_object: beaker_a
+    target_key: beaker_a_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+  gripper_contact_profile: pour_torsional
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_0_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6068843ae3f48d691bedc1a3a957ef1ca16b4f01
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_0_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29184279109871475,
+              0.12506985821483727,
+              1.0015008303617154
+            ],
+            "current_z": 1.0015008303617154,
+            "required_z": 0.8611065687409286,
+            "initial_z": 0.7611065687409286,
+            "lift_margin": 0.14039426162078683,
+            "gripper_z": 1.0037889244672424,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28669951738679067,
+              0.12018898145848063,
+              1.0037889244672424
+            ],
+            "object_minus_gripper": [
+              0.005143273711924079,
+              0.004880876756356636,
+              -0.0022880941055269943
+            ],
+            "object_to_gripper_xy": 0.007090572782682071,
+            "object_to_gripper_z": -0.0022880941055269943,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29184279109871475,
+              0.1006025554061514,
+              1.0015008303617154
+            ],
+            "finger_b": [
+              0.2799299498970628,
+              0.12506985821483727,
+              1.0015008303617154
+            ],
+            "finger_midpoint": [
+              0.2858863704978888,
+              0.11283620681049433,
+              1.0015008303617154
+            ],
+            "object_minus_finger_midpoint": [
+              0.005956420600825962,
+              0.012233651404342932,
+              0.0
+            ],
+            "finger_gap": 0.027213318287700655,
+            "fingertip_max_gap": 0.0913264749618635,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013606659143850328,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0015008303617154,
+            "object_top_z": 1.0514099537342732,
+            "finger_top_clearance": 0.04990912337255771,
+            "fingertip_min_top_clearance": 0.014972737011767328,
+            "object_projection_between_fingers": 0.8083681453015579,
+            "object_to_finger_line_xy": 0.010710751622096098,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816323748093175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0581431116098234,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3020842994897644,
+              0.007071062936134627,
+              0.7701464276473033
+            ],
+            "gripper_position": [
+              0.3021112868021243,
+              -0.004891981772953691,
+              1.0370726015298568
+            ],
+            "target_minus_gripper": [
+              -2.6987312359894045e-05,
+              0.011963044709088318,
+              -0.26692617388255346
+            ],
+            "held_position": [
+              0.30736102986050046,
+              -0.00016621353517487503,
+              1.0347473967152832
+            ],
+            "held_minus_target": [
+              0.00527673037073606,
+              -0.007237276471309502,
+              0.2646009690679798
+            ],
+            "held_minus_gripper": [
+              0.005249743058376166,
+              0.004725768237778816,
+              -0.002325204814573656
+            ],
+            "xy_dist": 0.011963075149252989,
+            "held_xy_dist": 0.008956676511274617,
+            "held_gripper_dist": 0.007436347560858378,
+            "max_held_gripper_dist": 0.007556400502450162,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464276473033,
+            "held_z": 1.0347473967152832,
+            "required_height": 0.8001464276473034,
+            "gripper_z": 1.0370726015298568,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.41963650153147,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.5431461478514978,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.186694837584805,
+            "max_source_tilt_deg": 89.66869208192033,
+            "source_upright_tilt_deg": 1.9776881768661185,
+            "max_source_upright_tilt_deg": 89.87014617466869,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.186694837584805,
+            "source_upright_return_tilt_deg": 1.9776881768661185,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.1331609715684485e-08,
+            "max_target_xy_drift": 9.938245140034622e-08,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.055952883289084925,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 1.0138000340489137e-05,
+            "max_target_tilt_deg": 0.00014304976805994777,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3021,
+                0.0071,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.3021,
+                0.0071,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                -0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0006,
+                0.0012,
+                0.0004
+              ],
+              "controller_last_pour_pose_position": [
+                0.3015,
+                -0.0169,
+                1.0357
+              ],
+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
+                0.0649,
+                0.0603,
+                0.0904
+              ],
+              "height_range_1": [
+                0.3,
+                0.4
+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  -0.0005714589244886629,
+                  0.0012327922112358985,
+                  0.0003956229708097147
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.9776934508872253,
+              "source_return_step_error_deg": 2.1867032671305444,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.1829666150955767,
+              "source_return_best_wrist_position": -1.613724946975708,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.613724946975708
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3021,
+              0.0071,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
+              0.3021,
+              0.0071,
+              0.7701
+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0006,
+              0.0012,
+              0.0004
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3015,
+              -0.0169,
+              1.0357
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.0649,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                -0.0005714589244886629,
+                0.0012327922112358985,
+                0.0003956229708097147
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.9776934508872253,
+            "pour_controller_source_return_step_error_deg": 2.1867032671305444,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.1829666150955767,
+            "pour_controller_source_return_best_wrist_position": -1.613724946975708,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.613724946975708,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.011963075149252989,
+            "valid_pour_held_xy_dist": 0.008956676511274617,
+            "valid_pour_held_gripper_dist": 0.007436347560858378,
+            "valid_pour_required_height": 0.8001464276473034,
+            "valid_pour_held_z": 1.0347473967152832,
+            "valid_pour_source_tilt_deg": 2.186694837584805,
+            "valid_pour_source_upright_tilt_deg": 1.9776881768661185,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.1331609715684485e-08,
+            "valid_pour_target_tilt_deg": 1.0138000340489137e-05,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.30736102986050046,
+              -0.024267550297789396,
+              1.0347473967152832
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.29594396578425675,
+              -0.00016621353517487503,
+              1.0347473967152832
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3016524978223786,
+              -0.012216881916482136,
+              1.0347473967152832
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.30736102986050046,
+              -0.00016621353517487503,
+              1.0347473967152832
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02666877923464081,
+            "valid_pour_held_grasp_max_gap": 0.12496583670377731,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024146859779289893,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.005244689921088083,
+              -0.9994043507065554,
+              0.03410919255039624
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057862371666473865,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.047482918351888656,
+            "valid_pour_held_grasp_object_top_z": 0.049720633774995804,
+            "valid_pour_held_grasp_top_clearance": 0.03770708284623995,
+            "valid_pour_held_grasp_min_top_clearance": 0.01491619013249874,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30736102986050046,
+              -0.024267550297789396,
+              1.0347473967152832
+            ],
+            "held_grasp_finger_b": [
+              0.29594396578425675,
+              -0.00016621353517487503,
+              1.0347473967152832
+            ],
+            "held_grasp_midpoint": [
+              0.3016524978223786,
+              -0.012216881916482136,
+              1.0347473967152832
+            ],
+            "held_grasp_object_position": [
+              0.30736102986050046,
+              -0.00016621353517487503,
+              1.0347473967152832
+            ],
+            "held_grasp_finger_gap": 0.02666877923464081,
+            "held_grasp_max_gap": 0.12496583670377731,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024146859779289893,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.005244689921088083,
+              -0.9994043507065554,
+              0.03410919255039624
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0057862371666473865,
+            "held_grasp_line_xy_max_dist": 0.047482918351888656,
+            "held_grasp_object_top_z": 0.049720633774995804,
+            "held_grasp_top_clearance": 0.03770708284623995,
+            "held_grasp_min_top_clearance": 0.01491619013249874,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25754023515265967,
+              0.1250975213210121,
+              0.761107755653753
+            ],
+            "target_position": [
+              0.26710912373271306,
+              0.12205309886735759,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010041520638518448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20859450552756512,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761107755653753,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576374934750306,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09144499380257647,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17962235447120029,
+            "release_required_pad_clearance": 0.055722496901288235,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.624432780474587,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 276,
+            "max_placed_release_frames": 276
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "257c550270f0a231ec27932b91f2cf7d8efd8f8f0c626cc52c005bb8943f3e09",
+    "visual_seed": 7048988197846179611,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_100_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7877e8a4b2c6d5625e2dc3175f39c2cd9bc624f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_100_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29130359600819516,
+              0.12230794468520585,
+              1.0000643413042494
+            ],
+            "current_z": 1.0000643413042494,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.13895765447554909,
+            "gripper_z": 1.00229603354422,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2864203275549498,
+              0.11754626950917271,
+              1.00229603354422
+            ],
+            "object_minus_gripper": [
+              0.004883268453245382,
+              0.004761675176033139,
+              -0.0022316922399705508
+            ],
+            "object_to_gripper_xy": 0.006820546991885018,
+            "object_to_gripper_z": -0.0022316922399705508,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29130359600819516,
+              0.09804927396968992,
+              1.0000643413042494
+            ],
+            "finger_b": [
+              0.27953547330581757,
+              0.12230794468520585,
+              1.0000643413042494
+            ],
+            "finger_midpoint": [
+              0.28541953465700637,
+              0.11017860932744789,
+              1.0000643413042494
+            ],
+            "object_minus_finger_midpoint": [
+              0.005884061351188796,
+              0.012129335357757967,
+              0.0
+            ],
+            "finger_gap": 0.026962414892254094,
+            "fingertip_max_gap": 0.0917087028279144,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013481207446127047,
+            "object_to_finger_midpoint_z": 0.0,
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+            "held_grasp_object_to_finger_line_xy": 0.005311106962090297,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03747693767808119,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2548939359146842,
+              0.12698091862840205,
+              0.7611216227210021
+            ],
+            "target_position": [
+              0.26682714609297825,
+              0.12079852085011432,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01343962601593952,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2047432664369534,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611216227210021,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075750241923607,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0874663603493162,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17673031009645465,
+            "release_required_pad_clearance": 0.0537331801746581,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.406923066363854,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 277,
+            "max_placed_release_frames": 277
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae826807ec3090c1a57282dcd94158b715329deaee98f301ee1d2144ada25124",
+    "visual_seed": 775895186902704408,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_101_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1169e06e7b71035de6e7eacf54a950184366f1e5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_101_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.120507832381446,
+              1.0005690614178948
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+              0.1157527155165398,
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+              0.09597784802328718,
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+              0.120507832381446,
+              1.0005690614178948
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+              0.10824284020236659,
+              1.0005690614178948
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+              0.012264992179079406,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
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+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              }
+            ],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              -0.2742754296726436
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+              1.0419671090802556
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+            "held_minus_target": [
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+              -0.012166560650903437,
+              0.2718207192836438
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+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cabe497fae43a7a4adb9f6d2e09810b7b4efe2def04782148355df936b7f09f2",
+    "visual_seed": 4099355643951211888,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_10_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..771eb0cf46caadb48d1893f373d3fcefb1380b2a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_10_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29393550242231553,
+              0.12108332145451875,
+              1.000455916644601
+            ],
+            "current_z": 1.000455916644601,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.13934940862983503,
+            "gripper_z": 1.0027633133948013,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2887773927624032,
+              0.11618173611540206,
+              1.0027633133948013
+            ],
+            "object_minus_gripper": [
+              0.005158109659912313,
+              0.004901585339116693,
+              -0.002307396750200308
+            ],
+            "object_to_gripper_xy": 0.007115590917156806,
+            "object_to_gripper_z": -0.002307396750200308,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29393550242231553,
+              0.09662646995585145,
+              1.000455916644601
+            ],
+            "finger_b": [
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+              0.12108332145451875,
+              1.000455916644601
+            ],
+            "finger_midpoint": [
+              0.28795404304962735,
+              0.1088548957051851,
+              1.000455916644601
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012228425749333652,
+              0.0
+            ],
+            "finger_gap": 0.027225888601409204,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8069320525876251,
+            "object_to_finger_line_xy": 0.010746217746264894,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812954588511774,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1948912572423422,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.010056131376557127,
+              0.7701464494012564
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+            "max_held_gripper_dist": 0.007570418084972016,
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+            "held_z": 1.0413699959691862,
+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.0438167542085184,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.2181197664518,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.686272573166821,
+            "max_source_tilt_deg": 89.96983373652922,
+            "source_upright_tilt_deg": 2.048682224655597,
+            "max_source_upright_tilt_deg": 89.82553710305703,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.686272573166821,
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+            "target_xy_drift": 6.705522537231445e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              "controller_target_position": [
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_strategy": "wrist_velocity",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0009,
+              0.0018,
+              -0.0017
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3079,
+              -0.0134,
+              1.0337
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.000915060687245925,
+                0.0017590173404737658,
+                -0.0016623261397354647
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.0486817945837914,
+            "pour_controller_source_return_step_error_deg": 2.6862765479418838,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.679368660100052,
+            "pour_controller_source_return_best_wrist_position": -1.6271073818206787,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6271073818206787,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.014979729850502395,
+            "valid_pour_held_xy_dist": 0.013403073008397543,
+            "valid_pour_held_gripper_dist": 0.007477504908789873,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.0413699959691862,
+            "valid_pour_source_tilt_deg": 2.686272573166821,
+            "valid_pour_source_upright_tilt_deg": 2.048682224655597,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.705522537231445e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3177696082847513,
+              -0.024553126552781118,
+              1.0413699959691862
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3068332579017321,
+              0.00011896720467563862,
+              1.0413699959691862
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3123014330932417,
+              -0.01221707967405274,
+              1.0413699959691862
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3177696082847513,
+              0.00011896720467563862,
+              1.0413699959691862
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026987329806353592,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024403588057949236,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.023109702776345796,
+              -0.9993608206562038,
+              0.027274379460368037
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00519265626522566,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03726572023431089,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3177696082847513,
+              -0.024553126552781118,
+              1.0413699959691862
+            ],
+            "held_grasp_finger_b": [
+              0.3068332579017321,
+              0.00011896720467563862,
+              1.0413699959691862
+            ],
+            "held_grasp_midpoint": [
+              0.3123014330932417,
+              -0.01221707967405274,
+              1.0413699959691862
+            ],
+            "held_grasp_object_position": [
+              0.3177696082847513,
+              0.00011896720467563862,
+              1.0413699959691862
+            ],
+            "held_grasp_finger_gap": 0.026987329806353592,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024403588057949236,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.023109702776345796,
+              -0.9993608206562038,
+              0.027274379460368037
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00519265626522566,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726572023431089,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2636774356680761,
+              0.12462376394962335,
+              0.7611070366558728
+            ],
+            "target_position": [
+              0.26923666369896315,
+              0.11719441030551721,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009279025372774526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2123860226241426,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611070366558728,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584707431123376,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08803651319744903,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18377812241589445,
+            "release_required_pad_clearance": 0.054018256598724515,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0460560346939753,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "65c6185d726e8e597162d2044d9e7c0afb97a97c491adc0f71ef78e8453bcf64",
+    "visual_seed": 7182388389364921653,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_11_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..706892c61cba59bb09b41e38026145da0447122c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_11_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29281055152277846,
+              0.1251556953598801,
+              0.9994149890593798
+            ],
+            "current_z": 0.9994149890593798,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.13830854064925835,
+            "gripper_z": 1.0019576074652765,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2878426454520825,
+              0.12030302483363357,
+              1.0019576074652765
+            ],
+            "object_minus_gripper": [
+              0.004967906070695971,
+              0.004852670526246536,
+              -0.002542618405896757
+            ],
+            "object_to_gripper_xy": 0.006944674359792524,
+            "object_to_gripper_z": -0.002542618405896757,
+            "fingertip_source": "active_contact_pad_positions",
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+            "held_grasp_object_position": [
+              0.31682131257562185,
+              -0.003312781510451654,
+              1.0430244088567426
+            ],
+            "held_grasp_finger_gap": 0.027280971838906244,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02482382707349033,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06552930631427212,
+              -0.9978355991128803,
+              0.005479704098742322
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003985901977458236,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03667511911847585,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26294195456509856,
+              0.12922278491661118,
+              0.7611064409480389
+            ],
+            "target_position": [
+              0.268251618350949,
+              0.12156195339865716,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009320990777017727,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20965419047624945,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064409480389,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549402482232917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08862220969486091,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18176910216275113,
+            "release_required_pad_clearance": 0.05431110484743046,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6431132639241812,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9897b59d4f79405eec54f668b9ad9253496574610b6a2adf52a83c7eb867572a",
+    "visual_seed": 2254956145355668343,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_12_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d933dc7c69f37eb917c02b1fc58e862ade55c16
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_12_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29182458684219814,
+              0.12910571609621976,
+              1.0021049501775825
+            ],
+            "current_z": 1.0021049501775825,
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+            "lift_margin": 0.1409982633488821,
+            "gripper_z": 1.0045956025058411,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2868242191362473,
+              0.12421161441061954,
+              1.0045956025058411
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+              0.005000367705950859,
+              0.004894101685600227,
+              -0.0024906523282586246
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+            "object_to_gripper_z": -0.0024906523282586246,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29182458684219814,
+              0.1048346270254583,
+              1.0021049501775825
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+            "finger_b": [
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+              0.12910571609621976,
+              1.0021049501775825
+            ],
+            "finger_midpoint": [
+              0.2858044583833167,
+              0.11697017156083903,
+              1.0021049501775825
+            ],
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+              0.006020128458881446,
+              0.012135544535380738,
+              0.0
+            ],
+            "finger_gap": 0.027093422658028526,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8025106119522848,
+            "object_to_finger_line_xy": 0.010786018133418772,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04820975203069468,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.435425532741552,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08953192349564772,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18129098623772624,
+            "release_required_pad_clearance": 0.05476596174782386,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.580076512296019,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2cc84ef4fd9d00d63ab6074f310c6815628a72fa95b8f39d38d26e7c333e071d",
+    "visual_seed": 6945384302644983120,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_13_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea480a45d0df7971aa2dd4fdf4483ca07df4198e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_13_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2936066559363233,
+              0.12689844551238966,
+              1.0026935862440411
+            ],
+            "current_z": 1.0026935862440411,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1415870782292752,
+            "gripper_z": 1.005061951852483,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2884226805389586,
+              0.12212173263199301,
+              1.005061951852483
+            ],
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+              0.005183975397364704,
+              0.004776712880396647,
+              -0.0023683656084418914
+            ],
+            "object_to_gripper_xy": 0.00704915504597748,
+            "object_to_gripper_z": -0.0023683656084418914,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2936066559363233,
+              0.10217342361217624,
+              1.0026935862440411
+            ],
+            "finger_b": [
+              0.2821409664225028,
+              0.12689844551238966,
+              1.0026935862440411
+            ],
+            "finger_midpoint": [
+              0.287873811179413,
+              0.11453593456228295,
+              1.0026935862440411
+            ],
+            "object_minus_finger_midpoint": [
+              0.005732844756910271,
+              0.012362510950106709,
+              0.0
+            ],
+            "finger_gap": 0.02725415094977949,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0526592708384253,
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+            "fingertip_min_top_clearance": 0.014989705378315265,
+            "object_projection_between_fingers": 0.8230155786683445,
+            "object_to_finger_line_xy": 0.010401697152578247,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837171113296147,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3647547369893147,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.011141269324950952,
+              0.7701464494012563
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+              1.0454325749162745
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+              0.004537070098164687,
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+            "held_gripper_dist": 0.007433049088691012,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012563,
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+            "required_height": 0.8001464494012563,
+            "gripper_z": 1.0454325749162745,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.09736885211515,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.8396875424083015,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.203261607865714,
+            "max_source_tilt_deg": 89.8933860659871,
+            "source_upright_tilt_deg": 1.6411776187066638,
+            "max_source_upright_tilt_deg": 89.65356639492421,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.203261607865714,
+            "source_upright_return_tilt_deg": 1.6411776187066638,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.6763806343078613e-08,
+            "max_target_xy_drift": 1.73225998878479e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0111,
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+                -0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
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+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                "pour_height_range_m": [
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+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.6411853431144008,
+              "source_return_step_error_deg": 2.203262798479169,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.1977457994952365,
+              "source_return_best_wrist_position": -1.625035047531128,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.625035047531128
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3018,
+              0.0111,
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+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0019,
+              0.0006,
+              0.0006
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.2999,
+              -0.0135,
+              1.0359
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.00185409091989312,
+                0.0005768247246272307,
+                0.000572579168674633
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.6411853431144008,
+            "pour_controller_source_return_step_error_deg": 2.203262798479169,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.1977457994952365,
+            "pour_controller_source_return_best_wrist_position": -1.625035047531128,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.625035047531128,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01567771733557415,
+            "valid_pour_held_xy_dist": 0.013863547698733946,
+            "valid_pour_held_gripper_dist": 0.007433049088691012,
+            "valid_pour_required_height": 0.8001464494012563,
+            "valid_pour_held_z": 1.0429442262955215,
+            "valid_pour_source_tilt_deg": 2.203261607865714,
+            "valid_pour_source_upright_tilt_deg": 1.6411776187066638,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.6763806343078613e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3104857826009443,
+              -0.02434531771427028,
+              1.0429442262955215
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2997533434916939,
+              0.00037268493822534103,
+              1.0429442262955215
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3051195630463191,
+              -0.011986316388022469,
+              1.0429442262955215
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3104857826009443,
+              0.00037268493822534103,
+              1.0429442262955215
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026947447084325955,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024629179019769708,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.007331440963795641,
+              -0.9995897973982177,
+              0.027685500009653533
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005286586021117261,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03732697631648321,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3104857826009443,
+              -0.02434531771427028,
+              1.0429442262955215
+            ],
+            "held_grasp_finger_b": [
+              0.2997533434916939,
+              0.00037268493822534103,
+              1.0429442262955215
+            ],
+            "held_grasp_midpoint": [
+              0.3051195630463191,
+              -0.011986316388022469,
+              1.0429442262955215
+            ],
+            "held_grasp_object_position": [
+              0.3104857826009443,
+              0.00037268493822534103,
+              1.0429442262955215
+            ],
+            "held_grasp_finger_gap": 0.026947447084325955,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024629179019769708,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007331440963795641,
+              -0.9995897973982177,
+              0.027685500009653533
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005286586021117261,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03732697631648321,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25968488035781184,
+              0.12127931758878756,
+              0.7611064635669738
+            ],
+            "target_position": [
+              0.26886661968776665,
+              0.12415109960319567,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009620367407823722,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20938382382899384,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064635669738,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555921986165491,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08868063344317466,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1794371553537044,
+            "release_required_pad_clearance": 0.05434031672158733,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.703001067563326,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b6aa6628f26ab5904f2a7a4fe644ed216295601de444bad4506ece8d3b2d3b5f",
+    "visual_seed": 4911591724565483564,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_14_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b2ab815108f73282467f6d3a767e17f01ccaa1e
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_14_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+            "valid_pour_held_grasp_local_up_axis": [
+              -0.03648183714521073,
+              -0.9988498083763452,
+              0.03111488172963306
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004628109929964891,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03699877803413446,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32078496264669615,
+              -0.031308165706138105,
+              1.042090801687101
+            ],
+            "held_grasp_finger_b": [
+              0.31063973187250304,
+              -0.006206466526986237,
+              1.042090801687101
+            ],
+            "held_grasp_midpoint": [
+              0.3157123472595996,
+              -0.018757316116562173,
+              1.042090801687101
+            ],
+            "held_grasp_object_position": [
+              0.32078496264669615,
+              -0.006206466526986237,
+              1.042090801687101
+            ],
+            "held_grasp_finger_gap": 0.02707436073376929,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024702710758111812,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03648183714521073,
+              -0.9988498083763452,
+              0.03111488172963306
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004628109929964891,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699877803413446,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26356854558672205,
+              0.12233572189693352,
+              0.7611071018795237
+            ],
+            "target_position": [
+              0.27199721950090894,
+              0.122296212978611,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.008428766511555625,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20903180817512915,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611071018795237,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580385808152029,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08746907551263895,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17929188453263797,
+            "release_required_pad_clearance": 0.05373453775631948,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.475608086336171,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 268,
+            "max_placed_release_frames": 268
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c5595a2556f2ff4691c30691001ada0181c3b528b66f9a4d06908830dac033a",
+    "visual_seed": 1747774780650457807,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_15_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..507c45aa1b55061c85f30f57af5ff7d820cffa6a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_15_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2947506789519542,
+              0.11850705062341485,
+              1.002582848849755
+            ],
+            "current_z": 1.002582848849755,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.14147604281176518,
+            "gripper_z": 1.004693193227071,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2897798013389785,
+              0.1138308780340469,
+              1.004693193227071
+            ],
+            "object_minus_gripper": [
+              0.00497087761297571,
+              0.0046761725893679496,
+              -0.0021103443773160535
+            ],
+            "object_to_gripper_xy": 0.00682467686625083,
+            "object_to_gripper_z": -0.0021103443773160535,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2947506789519542,
+              0.09392560348434295,
+              1.002582848849755
+            ],
+            "finger_b": [
+              0.2834357034339927,
+              0.11850705062341485,
+              1.002582848849755
+            ],
+            "finger_midpoint": [
+              0.2890931911929735,
+              0.1062163270538789,
+              1.002582848849755
+            ],
+            "object_minus_finger_midpoint": [
+              0.005657487758980728,
+              0.01229072356953595,
+              0.0
+            ],
+            "finger_gap": 0.02706060262490572,
+            "fingertip_max_gap": 0.09174946439033807,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01353030131245285,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002582848849755,
+            "object_top_z": 1.0525079828299084,
+            "finger_top_clearance": 0.04992513398015341,
+            "fingertip_min_top_clearance": 0.01497754019404604,
+            "object_projection_between_fingers": 0.8251634172319259,
+            "object_to_finger_line_xy": 0.010278354714786485,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837473219516904,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.397516263849931,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2657743994949546,
+              0.1238247150775634,
+              0.7611073486230169
+            ],
+            "target_position": [
+              0.2701989320604817,
+              0.11674989020534059,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00834443739242089,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21060780600024212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611073486230169,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572721813933408,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09042539074773724,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18192637737778447,
+            "release_required_pad_clearance": 0.05521269537386862,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.52331622628644,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "03093a180714d0db72593831a40e50e33369ba4a1ef6b3099589f16b1f97587c",
+    "visual_seed": 4487217331117246007,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_16_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..995278be7e8def340469a0911e63cd5c781af043
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_16_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2937880630464623,
+              0.12217019769092262,
+              1.0007907480905627
+            ],
+            "current_z": 1.0007907480905627,
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+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.13968400165721784,
+            "gripper_z": 1.0031010647186487,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28873785873990393,
+              0.1172900123985007,
+              1.0031010647186487
+            ],
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+              0.004880185292421915,
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+            "object_to_gripper_xy": 0.007022874911768834,
+            "object_to_gripper_z": -0.0023103166280860066,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2937880630464623,
+              0.09784556602479122,
+              1.0007907480905627
+            ],
+            "finger_b": [
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+              0.12217019769092262,
+              1.0007907480905627
+            ],
+            "finger_midpoint": [
+              0.28778328066195735,
+              0.11000788185785693,
+              1.0007907480905627
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+              0.00600478238450497,
+              0.012162315833065693,
+              0.0
+            ],
+            "finger_gap": 0.02712779666014192,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_projection_between_fingers": 0.8040137990756681,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483148589606381,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3751367874165434,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.002974047881223338,
+              0.7701464494012564
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+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.0460838576397433,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.21554478513471,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 3.5265256150278326,
+            "max_source_tilt_deg": 89.76412285744436,
+            "source_upright_tilt_deg": 2.728617227227142,
+            "max_source_upright_tilt_deg": 89.83511256448031,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.5265256150278326,
+            "source_upright_return_tilt_deg": 2.728617227227142,
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+            "target_xy_drift": 4.6089294922381105e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_start_tilt_deg": 0.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_position": [
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+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_17_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..667aa9f89eab20e41f5c4e435cf631ff60f52074
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_17_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+              0.12454757149603858,
+              1.0021073159906981
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+            "gripper_z": 1.0047292417016365,
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+              0.1196699523603367,
+              1.0047292417016365
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+              0.00487761913570188,
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+            "fingertip_source": "active_contact_pad_positions",
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+              0.09996516613849517,
+              1.0021073159906981
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+              0.12454757149603858,
+              1.0021073159906981
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+            "finger_midpoint": [
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+              0.11225636881726687,
+              1.0021073159906981
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+              0.012291202678771707,
+              0.0
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010645785077262198,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "target_max_tilt_deg": 20.0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31646256082470325,
+              -0.02680078503287416,
+              1.0429129443226413
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.306273306125615,
+              -0.0016723104912498617,
+              1.0429129443226413
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3113679334751591,
+              -0.01423654776206201,
+              1.0429129443226413
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31646256082470325,
+              -0.0016723104912498617,
+              1.0429129443226413
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027115699218569912,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02464697033953627,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04390607920446788,
+              -0.9986416215525212,
+              0.028056512823980917
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004551981825888009,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03694939467647426,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31646256082470325,
+              -0.02680078503287416,
+              1.0429129443226413
+            ],
+            "held_grasp_finger_b": [
+              0.306273306125615,
+              -0.0016723104912498617,
+              1.0429129443226413
+            ],
+            "held_grasp_midpoint": [
+              0.3113679334751591,
+              -0.01423654776206201,
+              1.0429129443226413
+            ],
+            "held_grasp_object_position": [
+              0.31646256082470325,
+              -0.0016723104912498617,
+              1.0429129443226413
+            ],
+            "held_grasp_finger_gap": 0.027115699218569912,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464697033953627,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04390607920446788,
+              -0.9986416215525212,
+              0.028056512823980917
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004551981825888009,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03694939467647426,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2653536711830733,
+              0.1339904154030754,
+              0.7611084273908264
+            ],
+            "target_position": [
+              0.2701366809525736,
+              0.12227302514404939,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01265600319759177,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20968971750005727,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611084273908264,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534542711357405,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591491627207469,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18291496299951254,
+            "release_required_pad_clearance": 0.05295745813603735,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9487290658883516,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbe7b74f904bc7c0c46a2c125a8075c7c405ec8e4d0f63cc8340e29506b31453",
+    "visual_seed": 4748530096077781449,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_18_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be0b207e07dac11dd01b1a0c832e26f887f17a83
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_18_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29718910072220006,
+              0.12587121183679512,
+              1.0022134867368977
+            ],
+            "current_z": 1.0022134867368977,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.14110697872213174,
+            "gripper_z": 1.0044388653944447,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2920049833138555,
+              0.12110829600837342,
+              1.0044388653944447
+            ],
+            "object_minus_gripper": [
+              0.0051841174083445685,
+              0.004762915828421699,
+              -0.002225378657547017
+            ],
+            "object_to_gripper_xy": 0.007039917648107196,
+            "object_to_gripper_z": -0.002225378657547017,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29718910072220006,
+              0.10112631342175733,
+              1.0022134867368977
+            ],
+            "finger_b": [
+              0.2857669091989566,
+              0.12587121183679512,
+              1.0022134867368977
+            ],
+            "finger_midpoint": [
+              0.2914780049605783,
+              0.11349876262927622,
+              1.0022134867368977
+            ],
+            "object_minus_finger_midpoint": [
+              0.005711095761621765,
+              0.012372449207518899,
+              0.0
+            ],
+            "finger_gap": 0.027253925529438772,
+            "fingertip_max_gap": 0.09164458413420487,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013626962764719405,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0022134867368977,
+            "object_top_z": 1.052062902670468,
+            "finger_top_clearance": 0.049849415933570285,
+            "fingertip_min_top_clearance": 0.014954824780071051,
+            "object_projection_between_fingers": 0.8243529961059689,
+            "object_to_finger_line_xy": 0.010370651692522841,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832229206710244,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3965140900226067,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
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+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2629534212018028,
+              0.1314757728050499,
+              0.7611070172364306
+            ],
+            "target_position": [
+              0.272491432238628,
+              0.12238333533582384,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01317748358642062,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2067339321993835,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611070172364306,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589761968866432,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593837056499716,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1789438751273386,
+            "release_required_pad_clearance": 0.05296918528249858,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9707478038269508,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81215bd393fb9a6d6e0c323de8bc754ccd8d9166c398516666af81ebc49de3f2",
+    "visual_seed": 2008357673251339719,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_19_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7189ab4a483625f5b68e615012b7f9d26d7aa503
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_19_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "object_position": [
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+              0.12341542582861224,
+              1.0017636411751933
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+            "lift_margin": 0.14065695434649295,
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+              1.0039172591406502
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+              1.0017636411751933
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+              0.11121946671489596,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
+            ],
+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "target_z": 0.7701464494012566,
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+            "required_height": 0.8001464494012567,
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+            "max_wrist_deg": 121.18296478279375,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+            "source_tilt_deg": 4.043802925571748,
+            "max_source_tilt_deg": 89.74207110126981,
+            "source_upright_tilt_deg": 3.22061408546199,
+            "max_source_upright_tilt_deg": 89.9685172356931,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.043802925571748,
+            "source_upright_return_tilt_deg": 3.22061408546199,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.13266142616515e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+                "gripper",
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+                "joint1",
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+                "joint5",
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+                "left_inner_finger",
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+                "mobile_translate_x",
+                "mobile_translate_y",
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+                "panda_joint4",
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+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "wrist_1_joint",
+                "wrist_2_joint",
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+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6205483dbffa2d87556b755aff06aaeda310ffa7db2998ab320b4fcc57df1abc",
+    "visual_seed": 595396619563314350,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_1_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9ff0e36297a819b3cfd66343a6cfbdd8627b51d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_1_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+          "checker": "PickSuccessChecker",
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+              1.0021784022429854
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+              1.0021784022429854
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+              0.10712287679045238,
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+              0.012174489885670658,
+              0.0
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+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
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+            ],
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+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "metrics": {
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+            "valid_pour_pose_frames": 0,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
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+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.8437728076971485e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3154497133560802,
+              -0.03423708132312166,
+              1.0441312894032584
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.30602201076765595,
+              -0.008620716218259473,
+              1.0441312894032584
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3107358620618681,
+              -0.021428898770690565,
+              1.0441312894032584
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3154497133560802,
+              -0.008620716218259473,
+              1.0441312894032584
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027296148762808684,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024954676541823904,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.06447862457429861,
+              -0.9978996525455159,
+              0.006228195769671485
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.003879028039288487,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03663502650338596,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3154497133560802,
+              -0.03423708132312166,
+              1.0441312894032584
+            ],
+            "held_grasp_finger_b": [
+              0.30602201076765595,
+              -0.008620716218259473,
+              1.0441312894032584
+            ],
+            "held_grasp_midpoint": [
+              0.3107358620618681,
+              -0.021428898770690565,
+              1.0441312894032584
+            ],
+            "held_grasp_object_position": [
+              0.3154497133560802,
+              -0.008620716218259473,
+              1.0441312894032584
+            ],
+            "held_grasp_finger_gap": 0.027296148762808684,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024954676541823904,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06447862457429861,
+              -0.9978996525455159,
+              0.006228195769671485
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003879028039288487,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03663502650338596,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2485038463058824,
+              0.11421307442955253,
+              0.7611100433035923
+            ],
+            "target_position": [
+              0.26657308160218657,
+              0.11537367818565873,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01810647025987926,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20253152874921174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611100433035923,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525240703009266,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520864175069766,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17439188904764596,
+            "release_required_pad_clearance": 0.05260432087534883,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2712386290129234,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 260,
+            "max_placed_release_frames": 260
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c4e4b8b802117e5d7c9ea023ed5ec262fcde3e763cd4fff8f7d6c6b4ea443ee0",
+    "visual_seed": 8996141036186021692,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_20_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa516c2b6bf1271c74f6650a385577cdfcfad4f2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_20_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29618024198974974,
+              0.11932722278303251,
+              1.0031986515394022
+            ],
+            "current_z": 1.0031986515394022,
+            "required_z": 0.8611065676194111,
+            "initial_z": 0.7611065676194111,
+            "lift_margin": 0.14209208391999117,
+            "gripper_z": 1.0055159774142886,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2911551195027764,
+              0.1144354721099456,
+              1.0055159774142886
+            ],
+            "object_minus_gripper": [
+              0.0050251224869733435,
+              0.004891750673086906,
+              -0.0023173258748863113
+            ],
+            "object_to_gripper_xy": 0.007012922404870266,
+            "object_to_gripper_z": -0.0023173258748863113,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29618024198974974,
+              0.09506099878667795,
+              1.0031986515394022
+            ],
+            "finger_b": [
+              0.2841007594325081,
+              0.11932722278303251,
+              1.0031986515394022
+            ],
+            "finger_midpoint": [
+              0.29014050071112896,
+              0.10719411078485523,
+              1.0031986515394022
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060397412786207805,
+              0.012133111998177279,
+              0.0
+            ],
+            "finger_gap": 0.02710652183316698,
+            "fingertip_max_gap": 0.09208684170372852,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013553260916583479,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0031986515394022,
+            "object_top_z": 1.0530596788894044,
+            "finger_top_clearance": 0.049861027350002196,
+            "fingertip_min_top_clearance": 0.014958308205000624,
+            "object_projection_between_fingers": 0.8014137968081991,
+            "object_to_finger_line_xy": 0.010813760293488607,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048543420851864263,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.848179364918959,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
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+                "panda_joint5",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
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+              {
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+                "festo",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2649969823951588,
+              0.11863336817951078,
+              0.761106983759515
+            ],
+            "target_position": [
+              0.27160195035490914,
+              0.11431132779832107,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007893391844192412,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.209269851824866,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106983759515,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516671076904857,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08942480623391282,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18157026266081341,
+            "release_required_pad_clearance": 0.05471240311695641,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.470917530434253,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e35ef8fc4a80bbd3ec3795c68c0eca260a7bb985965c283bfcf9ae621991cb20",
+    "visual_seed": 6956897794595445897,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_21_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2913d9bd14aced1e9f0301802dffad8ccc7459
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_21_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              0.1248609504513653,
+              1.0034514051355021
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+              0.12015504616873439,
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+              0.11251732847564577,
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+              1.0
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+            "stable_success_frames": 171,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "xy_threshold": 0.15,
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+            "required_height": 0.8001464494012566,
+            "gripper_z": 1.0466823844037476,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.14567878011465,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.145864767907752,
+            "max_source_tilt_deg": 89.89704262619517,
+            "source_upright_tilt_deg": 2.470791446284476,
+            "max_source_upright_tilt_deg": 89.92006348705193,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.145864767907752,
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+                "gripper",
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+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b60d0a3a82c277a1b69c8aa8b50b2cabfb8f78fb22903c57d41b21e92dafdb2",
+    "visual_seed": 3292426214881114364,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_22_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..750208e3fdabbaf96195bf78686f6256a1cd7869
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_22_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "metrics": {
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+              0.12480183400083693,
+              1.000912620196825
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+            "lift_margin": 0.13980611218205885,
+            "gripper_z": 1.0032897508515142,
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+              0.28792619618848847,
+              0.11989730836995127,
+              1.0032897508515142
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+              0.004904525630885656,
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+            "object_to_gripper_z": -0.0023771306546891413,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.10029904926545836,
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+            "finger_b": [
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+              0.11255044163314765,
+              1.000912620196825
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+              0.012251392367689282,
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+            ],
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
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+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
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+            },
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+          }
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+      },
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.311354320407552,
+              0.009264687864713453,
+              0.7701464494012565
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+              -0.006382630512448931,
+              1.045011250986575
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+              0.015647318377162385,
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+            "missing_active_wrist_index": false,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_tilt_deg": 1.8066485683068592,
+            "max_source_upright_tilt_deg": 89.65791331380593,
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+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.0093,
+                0.7701
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+              "controller_target_position": [
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+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
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+            ],
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
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+                0.0,
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+              "tilt_axis_frame": "end_effector",
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+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                1.4677704185661437e-05,
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_wrist_compensated_return_position": -1.6275677680969238,
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+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.016129718468963414,
+            "valid_pour_held_xy_dist": 0.014393632666848089,
+            "valid_pour_held_gripper_dist": 0.007505988617949963,
+            "valid_pour_required_height": 0.8001464494012566,
+            "valid_pour_held_z": 1.042494409127956,
+            "valid_pour_source_tilt_deg": 2.44398025372758,
+            "valid_pour_source_upright_tilt_deg": 1.8066485683068592,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.725290298461914e-09,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3206155260607518,
+              -0.026375437631961568,
+              1.042494409127956
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.30958476627727616,
+              -0.0017537844067630742,
+              1.042494409127956
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31510014616901394,
+              -0.014064611019362322,
+              1.042494409127956
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3206155260607518,
+              -0.0017537844067630742,
+              1.042494409127956
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026979686227654138,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02440776828087518,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.018280327769167874,
+              -0.9995029155911473,
+              0.02568562519090778
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005298933057010099,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037314720025272585,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3206155260607518,
+              -0.026375437631961568,
+              1.042494409127956
+            ],
+            "held_grasp_finger_b": [
+              0.30958476627727616,
+              -0.0017537844067630742,
+              1.042494409127956
+            ],
+            "held_grasp_midpoint": [
+              0.31510014616901394,
+              -0.014064611019362322,
+              1.042494409127956
+            ],
+            "held_grasp_object_position": [
+              0.3206155260607518,
+              -0.0017537844067630742,
+              1.042494409127956
+            ],
+            "held_grasp_finger_gap": 0.026979686227654138,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02440776828087518,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.018280327769167874,
+              -0.9995029155911473,
+              0.02568562519090778
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005298933057010099,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037314720025272585,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26373847879765555,
+              0.1236347233977184,
+              0.7611063768884144
+            ],
+            "target_position": [
+              0.2684011003580326,
+              0.12326309417388175,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004677408266904056,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2116493468708992,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063768884144,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563348424126341,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09016915042160083,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18164444382583406,
+            "release_required_pad_clearance": 0.055084575210800416,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.25348180744637,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 274,
+            "max_placed_release_frames": 274
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "376790caa05e74d112f5684a1f5de5f2c0bcce2f416fcfb26635c06c169c10b2",
+    "visual_seed": 2576734976432520990,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_23_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9dcc657413239be103e7669b8f8ae6aac2de3cf
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_23_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29911498224478666,
+              0.11999723419493945,
+              1.0021754848157731
+            ],
+            "current_z": 1.0021754848157731,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.14106873838242806,
+            "gripper_z": 1.0040676759038678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29416078047482896,
+              0.11531206239094327,
+              1.0040676759038678
+            ],
+            "object_minus_gripper": [
+              0.0049542017699577,
+              0.004685171803996177,
+              -0.0018921910880946857
+            ],
+            "object_to_gripper_xy": 0.006818720555237089,
+            "object_to_gripper_z": -0.0018921910880946857,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29911498224478666,
+              0.09544981282393616,
+              1.0021754848157731
+            ],
+            "finger_b": [
+              0.28775434760348884,
+              0.11999723419493945,
+              1.0021754848157731
+            ],
+            "finger_midpoint": [
+              0.2934346649241377,
+              0.10772352350943781,
+              1.0021754848157731
+            ],
+            "object_minus_finger_midpoint": [
+              0.005680317320648942,
+              0.012273710685501635,
+              0.0
+            ],
+            "finger_gap": 0.02704884314381384,
+            "fingertip_max_gap": 0.09159183536551704,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013524421571906926,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0021754848157731,
+            "object_top_z": 1.0519852539098509,
+            "finger_top_clearance": 0.04980976909407775,
+            "fingertip_min_top_clearance": 0.014942930728223341,
+            "object_projection_between_fingers": 0.8235962572118477,
+            "object_to_finger_line_xy": 0.010310026351191055,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048295917682758524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3970107031347925,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
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+                "fr3_joint4",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
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+                "joint4",
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+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+                "caster",
+                "defaultgroundplane",
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+                "ground",
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+                "b_name": "beaker_c"
+              },
+              {
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+            ],
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+                "Robotiq_2F_85",
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+                "fr3_joint4",
+                "fr3_joint5",
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26872478151163764,
+              0.11450204139178081,
+              0.7611065620802342
+            ],
+            "target_position": [
+              0.27464998052155487,
+              0.11554139615896042,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006015666350387382,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2087812953215404,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065620802342,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578124844834379,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08620716749786671,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17856275033234806,
+            "release_required_pad_clearance": 0.053103583748933356,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2341449862769798,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "276fbda99ff03a6f67cd8c113f4eacfbb446a60bec21876060a4273469d134c7",
+    "visual_seed": 8662762802369336634,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_24_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08ed8b6912fc0fa63caf31ca176d7344e50eb377
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_24_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.12381863142969418,
+              1.0036398647824674
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+            "gripper_z": 1.0057108235499812,
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+              0.11167817229258714,
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+            "stable_success_frames": 171,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
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+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
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+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0427701786734938,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.0782921337633,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.9624410102582653,
+            "source_start_max_tilt_deg": 20.0,
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e743b9d0f51f580542021579e4bd998d065eea8feb533d04297594159baac9ef",
+    "visual_seed": 7438472747186598858,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_25_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca7c4704ea283971489305b7b482f26e5dc67c1a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_25_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29059042560450554,
+              0.12501555392262192,
+              1.0001343202803794
+            ],
+            "current_z": 1.0001343202803794,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.13902787187025822,
+            "gripper_z": 1.0027484046671475,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2853327149963713,
+              0.12018997075270176,
+              1.0027484046671475
+            ],
+            "object_minus_gripper": [
+              0.005257710608134236,
+              0.0048255831699201696,
+              -0.002614084386768134
+            ],
+            "object_to_gripper_xy": 0.007136509915126866,
+            "object_to_gripper_z": -0.002614084386768134,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29059042560450554,
+              0.10026156298929552,
+              1.0001343202803794
+            ],
+            "finger_b": [
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+              0.12501555392262192,
+              1.0001343202803794
+            ],
+            "finger_midpoint": [
+              0.2848058363424326,
+              0.11263855845595871,
+              1.0001343202803794
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057845892620729256,
+              0.01237699546666321,
+              0.0
+            ],
+            "finger_gap": 0.027324091180691873,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0500143459530125,
+            "finger_top_clearance": 0.049880025672633055,
+            "fingertip_min_top_clearance": 0.014964007701789933,
+            "object_projection_between_fingers": 0.8207275335310957,
+            "object_to_finger_line_xy": 0.010480983188019415,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829793324303057,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3304017838104139,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3037370256191914,
+              0.002410601914532559,
+              0.7701464494012563
+            ],
+            "gripper_position": [
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+              -0.01571381565130167,
+              1.04511215236746
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+              0.01812441756583423,
+              -0.2749657029662037
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+            "held_position": [
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+              -0.011134246656052968,
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+            "held_minus_target": [
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+              -0.013544848570585527,
+              0.27223297994240736
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+            "held_minus_gripper": [
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+              0.004579568995248704,
+              -0.0027327230237963462
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+            "held_gripper_dist": 0.007593624010095826,
+            "max_held_gripper_dist": 0.007715291615858383,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012563,
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+            "required_height": 0.8001464494012563,
+            "gripper_z": 1.04511215236746,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.29870916846879,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_tilt_deg": 2.280610894808859,
+            "max_source_tilt_deg": 89.85257411223337,
+            "source_upright_tilt_deg": 1.8529041870471223,
+            "max_source_upright_tilt_deg": 89.6813110906997,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.280610894808859,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.159688909325375e-08,
+            "max_target_xy_drift": 1.46450474858284e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3037,
+                0.0024,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0024,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
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+                "pour_pose_offset_m": [
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+                  0.0012872193545261043
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6286457777023315
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0005506235241641037,
+                0.0009517170011767578,
+                0.0012872193545261043
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_step_error_deg": 2.2806076307815197,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
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+            "pour_controller_source_return_best_wrist_position": -1.6286457777023315,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6286457777023315,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.018776890675807595,
+            "valid_pour_held_xy_dist": 0.01702392327266921,
+            "valid_pour_held_gripper_dist": 0.007593624010095826,
+            "valid_pour_required_height": 0.8001464494012563,
+            "valid_pour_held_z": 1.0423794293436637,
+            "valid_pour_source_tilt_deg": 2.280610894808859,
+            "valid_pour_source_upright_tilt_deg": 1.8529041870471223,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.159688909325375e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31404968971697117,
+              -0.03579197454521713,
+              1.0423794293436637
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3031884622077838,
+              -0.011134246656052968,
+              1.0423794293436637
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3086190759623775,
+              -0.02346311060063505,
+              1.0423794293436637
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31404968971697117,
+              -0.011134246656052968,
+              1.0423794293436637
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026943826893416477,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024584302914551593,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0055732581366442595,
+              -0.9994771395774583,
+              0.031849431012251454
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00537621175460035,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03736756618822974,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31404968971697117,
+              -0.03579197454521713,
+              1.0423794293436637
+            ],
+            "held_grasp_finger_b": [
+              0.3031884622077838,
+              -0.011134246656052968,
+              1.0423794293436637
+            ],
+            "held_grasp_midpoint": [
+              0.3086190759623775,
+              -0.02346311060063505,
+              1.0423794293436637
+            ],
+            "held_grasp_object_position": [
+              0.31404968971697117,
+              -0.011134246656052968,
+              1.0423794293436637
+            ],
+            "held_grasp_finger_gap": 0.026943826893416477,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024584302914551593,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0055732581366442595,
+              -0.9994771395774583,
+              0.031849431012251454
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00537621175460035,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03736756618822974,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26348322544257485,
+              0.1232924066721521,
+              0.7611063467155288
+            ],
+            "target_position": [
+              0.2657120477893885,
+              0.12123675747539214,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0030320525512919127,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21470644912731207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063467155288,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589202122882466,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08708058441300899,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18456229698245366,
+            "release_required_pad_clearance": 0.0535402922065045,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.092099294271123,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7de9b7286b5ffe94a5533c13e2dbdcddcd55f312710435bac6c4c28e7156987e",
+    "visual_seed": 4542919353577634555,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_26_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2658c553250674bf188b112d70917176a3a31f4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_26_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29470010879241954,
+              0.11578762574806116,
+              1.001380651214583
+            ],
+            "current_z": 1.001380651214583,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1402742028044618,
+            "gripper_z": 1.0037775907538986,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2896451146971962,
+              0.11108277276786292,
+              1.0037775907538986
+            ],
+            "object_minus_gripper": [
+              0.0050549940952233086,
+              0.0047048529801982375,
+              -0.0023969395393155235
+            ],
+            "object_to_gripper_xy": 0.006905693800627331,
+            "object_to_gripper_z": -0.0023969395393155235,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29470010879241954,
+              0.09114038206165397,
+              1.001380651214583
+            ],
+            "finger_b": [
+              0.28335486540249166,
+              0.11578762574806116,
+              1.001380651214583
+            ],
+            "finger_midpoint": [
+              0.2890274870974556,
+              0.10346400390485756,
+              1.001380651214583
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056726216949639086,
+              0.012323621843203597,
+              0.0
+            ],
+            "finger_gap": 0.02713302727146091,
+            "fingertip_max_gap": 0.0914398392784079,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013566513635730443,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.001380651214583,
+            "object_top_z": 1.0511948042476473,
+            "finger_top_clearance": 0.049814153033064246,
+            "fingertip_min_top_clearance": 0.01494424590991929,
+            "object_projection_between_fingers": 0.8251638913225282,
+            "object_to_finger_line_xy": 0.01030585255804729,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048219919639203954,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.31394616439645,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26056060232099465,
+              0.12041528694177307,
+              0.7611118320870025
+            ],
+            "target_position": [
+              0.2700951605408419,
+              0.1146393013203053,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.011147636984897734,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20708458040772898,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611118320870025,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516140778707481,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642361268707917,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17961169593492196,
+            "release_required_pad_clearance": 0.053211806343539586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4220545877793354,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 270,
+            "max_placed_release_frames": 270
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef1ea7e002b3b4b0881f47d6211a458a61b91a96135b027d77040f50e68be1d6",
+    "visual_seed": 5507441098418750583,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_27_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d004fb8d60fd8643550fe5fc837cb823f92503c3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_27_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+              0.11033574627468679,
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+              1.0
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+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
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+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
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+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "max_held_gripper_dist": 0.0076348500821346536,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059013,
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+            "required_height": 0.8001465090059013,
+            "gripper_z": 1.0456133859205934,
+            "wrist_idx": 5,
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+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29e2385dd8b94323a7c667675f7be11d8331f26e9c849e6e58aa51f9004660ec",
+    "visual_seed": 5167348669814414056,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_28_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c922fae7939009088dd88f32a2ff7a050f88bb10
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_28_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2912814140471118,
+              0.12392784666185656,
+              1.0026962087076985
+            ],
+            "current_z": 1.0026962087076985,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.14158976029757708,
+            "gripper_z": 1.0052637616725169,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2860651834368383,
+              0.11911396584425007,
+              1.0052637616725169
+            ],
+            "object_minus_gripper": [
+              0.005216230610273487,
+              0.004813880817606489,
+              -0.002567552964818365
+            ],
+            "object_to_gripper_xy": 0.007098063842039872,
+            "object_to_gripper_z": -0.002567552964818365,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2912814140471118,
+              0.0992131249050377,
+              1.0026962087076985
+            ],
+            "finger_b": [
+              0.27971541470512906,
+              0.12392784666185656,
+              1.0026962087076985
+            ],
+            "finger_midpoint": [
+              0.28549841437612045,
+              0.11157048578344714,
+              1.0026962087076985
+            ],
+            "object_minus_finger_midpoint": [
+              0.005782999670991329,
+              0.012357360878409426,
+              0.0
+            ],
+            "finger_gap": 0.027287173035983783,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0026962087076985,
+            "object_top_z": 1.0525974133468547,
+            "finger_top_clearance": 0.04990120463915626,
+            "fingertip_min_top_clearance": 0.01497036139174686,
+            "object_projection_between_fingers": 0.8203408929726053,
+            "object_to_finger_line_xy": 0.010475634658075415,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048343169418114576,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3784818768575111,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.30197243011061586,
+              0.007698136704646128,
+              0.7701465090059011
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+              -0.010420180165136045,
+              1.0456197622721617
+            ],
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+              -0.2754732532662606
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+              1.0429068108552908
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+            "held_minus_target": [
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+              0.2727603018493897
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+            "held_minus_gripper": [
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+              0.004401667107202372,
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+            "xy_dist": 0.018853065506489047,
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+            "held_gripper_dist": 0.007545805745134767,
+            "max_held_gripper_dist": 0.007656597307656382,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701465090059011,
+            "held_z": 1.0429068108552908,
+            "required_height": 0.8001465090059011,
+            "gripper_z": 1.0456197622721617,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.19975338777364,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.8277783842338877,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.4613640330034072,
+            "max_source_tilt_deg": 89.903883294482,
+            "source_upright_tilt_deg": 2.6842355648524823,
+            "max_source_upright_tilt_deg": 89.97152041608422,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.4613640330034072,
+            "source_upright_return_tilt_deg": 2.6842355648524823,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.4504256279764817e-08,
+            "max_target_xy_drift": 1.126900315284729e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.0077,
+                0.7701
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+              "controller_target_position": [
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+                0.0077,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0904
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+              "height_range_1": [
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+              ],
+              "height_range_2": [
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                "position_threshold_m": 0.015,
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+                "approach_xy_threshold_m": 0.08,
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+              "source_pose_feedback": true,
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+              0.7701
+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0001,
+              -0.0018,
+              0.0004
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.302,
+              -0.0193,
+              1.0357
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                6.713212356702176e-05,
+                -0.0018461816170936838,
+                0.0003757355905561269
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.684235478843003,
+            "pour_controller_source_return_step_error_deg": 3.461363944771723,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.4573235738163435,
+            "pour_controller_source_return_best_wrist_position": -1.6261590719223022,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6261590719223022,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.018853065506489047,
+            "valid_pour_held_xy_dist": 0.017401265758252227,
+            "valid_pour_held_gripper_dist": 0.007545805745134767,
+            "valid_pour_required_height": 0.8001465090059011,
+            "valid_pour_held_z": 1.0429068108552908,
+            "valid_pour_source_tilt_deg": 3.4613640330034072,
+            "valid_pour_source_upright_tilt_deg": 2.6842355648524823,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.4504256279764817e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3126802575877487,
+              -0.03117800731140026,
+              1.0429068108552908
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3026033600822689,
+              -0.006018513057933673,
+              1.0429068108552908
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3076418088350088,
+              -0.018598260184666968,
+              1.0429068108552908
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3126802575877487,
+              -0.006018513057933673,
+              1.0429068108552908
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02710247247809991,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024752256967848937,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.037673542523339994,
+              -0.9989028054910996,
+              0.027818867262218827
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004574556502890429,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03696448915949456,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3126802575877487,
+              -0.03117800731140026,
+              1.0429068108552908
+            ],
+            "held_grasp_finger_b": [
+              0.3026033600822689,
+              -0.006018513057933673,
+              1.0429068108552908
+            ],
+            "held_grasp_midpoint": [
+              0.3076418088350088,
+              -0.018598260184666968,
+              1.0429068108552908
+            ],
+            "held_grasp_object_position": [
+              0.3126802575877487,
+              -0.006018513057933673,
+              1.0429068108552908
+            ],
+            "held_grasp_finger_gap": 0.02710247247809991,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024752256967848937,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.037673542523339994,
+              -0.9989028054910996,
+              0.027818867262218827
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004574556502890429,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696448915949456,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2648103070248605,
+              0.12301127608109785,
+              0.7611064050841553
+            ],
+            "target_position": [
+              0.26644313080662746,
+              0.12159943522031853,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0021585662182267576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21248740264015123,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064050841553,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558473094209037,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867312965293676,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18264690022400729,
+            "release_required_pad_clearance": 0.053365648264683804,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7471459551975574,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18ab00e1149c87cb3797136517ffaf81018c7fdeeec196e275dbfa326fc770c9",
+    "visual_seed": 5401804712737948123,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_29_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fec62bb1190dd9cbeb14b53d28f3d6859aef20a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_29_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29308862990230716,
+              0.12646066295028674,
+              1.001562407612943
+            ],
+            "current_z": 1.001562407612943,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14045572078424273,
+            "gripper_z": 1.0042087496327865,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28807084539105826,
+              0.12159996899662946,
+              1.0042087496327865
+            ],
+            "object_minus_gripper": [
+              0.005017784511248902,
+              0.004860693953657277,
+              -0.002646342019843484
+            ],
+            "object_to_gripper_xy": 0.006986022266816059,
+            "object_to_gripper_z": -0.002646342019843484,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29308862990230716,
+              0.10215602789449227,
+              1.001562407612943
+            ],
+            "finger_b": [
+              0.28110538081691716,
+              0.12646066295028674,
+              1.001562407612943
+            ],
+            "finger_midpoint": [
+              0.28709700535961213,
+              0.1143083454223895,
+              1.001562407612943
+            ],
+            "object_minus_finger_midpoint": [
+              0.005991624542695029,
+              0.012152317527897236,
+              0.0
+            ],
+            "finger_gap": 0.0270982203075747,
+            "fingertip_max_gap": 0.09193108442504225,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013549110153787363,
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+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2580102314788345,
+              0.1250580570569435,
+              0.7611199493997457
+            ],
+            "target_position": [
+              0.268475607467319,
+              0.12246301832695546,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010782315177664129,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20920366740813937,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611199493997457,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590443996598482,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08675593666541236,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1799328301204823,
+            "release_required_pad_clearance": 0.05337796833270618,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7114031969993653,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 282,
+            "max_placed_release_frames": 282
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f3e0d4c95b64af336dbfb6730fff0c8ab47bbc8ff4ca91373f693826984cc93",
+    "visual_seed": 2399267279703241967,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_2_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5702b0fe502f1ddce1ff22b057dc6d8fc7cb721
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_2_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.12334373154296605,
+              1.0005278533128847
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+              0.12334373154296605,
+              1.0005278533128847
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+              0.11107823180077343,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+            },
+            "failed_keys": []
+          }
+        },
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+      "physical_semantics": {
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+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "max_held_gripper_dist": 0.0073338304464502565,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e17c9c54945beaa479faf96cbd6b338b79a912d70996fd32c067a1446203480",
+    "visual_seed": 7520819035851860802,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_30_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f488f66d9cd633f2675b99473840882303d33112
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_30_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29449230826740685,
+              0.11850214477873405,
+              1.0018877876516168
+            ],
+            "current_z": 1.0018877876516168,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.14078127963685094,
+            "gripper_z": 1.0039791233657165,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28949394715913934,
+              0.11372164755495487,
+              1.0039791233657165
+            ],
+            "object_minus_gripper": [
+              0.004998361108267513,
+              0.004780497223779184,
+              -0.0020913357140996958
+            ],
+            "object_to_gripper_xy": 0.006916412905198888,
+            "object_to_gripper_z": -0.0020913357140996958,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29449230826740685,
+              0.09409498537719374,
+              1.0018877876516168
+            ],
+            "finger_b": [
+              0.2827800902291966,
+              0.11850214477873405,
+              1.0018877876516168
+            ],
+            "finger_midpoint": [
+              0.28863619924830175,
+              0.1062985650779639,
+              1.0018877876516168
+            ],
+            "object_minus_finger_midpoint": [
+              0.005856109019105105,
+              0.012203579700770156,
+              0.0
+            ],
+            "finger_gap": 0.02707185773874367,
+            "fingertip_max_gap": 0.09158756293890005,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013535928869371824,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0018877876516168,
+            "object_top_z": 1.0517674188877184,
+            "finger_top_clearance": 0.04987963123610162,
+            "fingertip_min_top_clearance": 0.014963889370830501,
+            "object_projection_between_fingers": 0.8128274405060875,
+            "object_to_finger_line_xy": 0.010559377762800701,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829378146945003,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3607931892545975,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.30375258243147774,
+              0.0034433562277332726,
+              0.7701464494012566
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+              -0.011014008782908452,
+              1.0453973582891403
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+              0.014457365010641725,
+              -0.2752509088878836
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+              0.3129124167118467,
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+            "held_minus_target": [
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+              -0.009899167313994702,
+              0.27304043758825713
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+            "held_minus_gripper": [
+              0.0051460683171147825,
+              0.004558197696647023,
+              -0.002210471299626482
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+            "xy_dist": 0.015004190090061693,
+            "held_xy_dist": 0.013486885391159957,
+            "held_gripper_dist": 0.007221175024371254,
+            "max_held_gripper_dist": 0.007305632009579936,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012566,
+            "held_z": 1.0431868869895138,
+            "required_height": 0.8001464494012567,
+            "gripper_z": 1.0453973582891403,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.19601044410848,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.8191279383982015,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.1863223167750987,
+            "max_source_tilt_deg": 89.99373281639622,
+            "source_upright_tilt_deg": 1.6716296844022844,
+            "max_source_upright_tilt_deg": 89.7604937363305,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.1863223167750987,
+            "source_upright_return_tilt_deg": 1.6716296844022844,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 5.314713265894841e-08,
+            "max_target_xy_drift": 1.0810389718643532e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3038,
+                0.0034,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0034,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0009,
+                0.0015,
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+              "controller_last_pour_pose_position": [
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+                -0.0203,
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0603,
+                0.0904
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
+                  0.0
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+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+                "use_preinterpolated_cartesian_targets": false
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.671627004665803,
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+              "source_return_effective_target_deg": 8.0,
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+              "wrist_compensated_return_position": -1.6269229650497437
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              0.0034,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
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+              0.0034,
+              0.7701
+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0009,
+              0.0015,
+              0.0004
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3029,
+              -0.0203,
+              1.0357
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0008814023331286066,
+                0.0014517598689865736,
+                0.0003840482060819333
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.671627004665803,
+            "pour_controller_source_return_step_error_deg": 2.1863305375579296,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.1697935618516144,
+            "pour_controller_source_return_best_wrist_position": -1.6269229650497437,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6269229650497437,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.015004190090061693,
+            "valid_pour_held_xy_dist": 0.013486885391159957,
+            "valid_pour_held_gripper_dist": 0.007221175024371254,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.0431868869895138,
+            "valid_pour_source_tilt_deg": 2.1863223167750987,
+            "valid_pour_source_upright_tilt_deg": 1.6716296844022844,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.314713265894841e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3129124167118467,
+              -0.03087229691925287,
+              1.0431868869895138
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3019246166800153,
+              -0.006455811086261429,
+              1.0431868869895138
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.307418516695931,
+              -0.018664054002757148,
+              1.0431868869895138
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3129124167118467,
+              -0.006455811086261429,
+              1.0431868869895138
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026774923528783166,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024333941758974516,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.006566670409684245,
+              -0.9995744345541188,
+              0.028422326181090418
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005424755548275915,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03748112592927125,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3129124167118467,
+              -0.03087229691925287,
+              1.0431868869895138
+            ],
+            "held_grasp_finger_b": [
+              0.3019246166800153,
+              -0.006455811086261429,
+              1.0431868869895138
+            ],
+            "held_grasp_midpoint": [
+              0.307418516695931,
+              -0.018664054002757148,
+              1.0431868869895138
+            ],
+            "held_grasp_object_position": [
+              0.3129124167118467,
+              -0.006455811086261429,
+              1.0431868869895138
+            ],
+            "held_grasp_finger_gap": 0.026774923528783166,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024333941758974516,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.006566670409684245,
+              -0.9995744345541188,
+              0.028422326181090418
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005424755548275915,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03748112592927125,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2659209390254972,
+              0.10360081857011588,
+              0.7611063667858854
+            ],
+            "target_position": [
+              0.26994617105548396,
+              0.1159325630087585,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01297206281958365,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21248025474504698,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063667858854,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514940857148673,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622578163981699,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18106488965021794,
+            "release_required_pad_clearance": 0.0531128908199085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2524018293108559,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "21d72874d992b08a12baaef43085f4d490e5a3f7111a35bc65a93f4da20db573",
+    "visual_seed": 882547417784142201,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_31_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..15303a0c2fb31e834e491795dacb5b6713c681e7
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_31_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2997580196648876,
+              0.12460923453238688,
+              1.000251175146596
+            ],
+            "current_z": 1.000251175146596,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.13914454792254005,
+            "gripper_z": 1.002459032609155,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2947330609871711,
+              0.11993264025654499,
+              1.002459032609155
+            ],
+            "object_minus_gripper": [
+              0.005024958677716462,
+              0.004676594275841897,
+              -0.0022078574625590264
+            ],
+            "object_to_gripper_xy": 0.006864455093712477,
+            "object_to_gripper_z": -0.0022078574625590264,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2997580196648876,
+              0.09991972207491594,
+              1.000251175146596
+            ],
+            "finger_b": [
+              0.2885495390066535,
+              0.12460923453238688,
+              1.000251175146596
+            ],
+            "finger_midpoint": [
+              0.2941537793357705,
+              0.11226447830365141,
+              1.000251175146596
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056042403291170495,
+              0.012344756228735473,
+              0.0
+            ],
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+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004490758866100968,
+              -0.9996277837155889,
+              0.026909609968678527
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005212145617005602,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03737804116931397,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2655123562328259,
+              0.12386790925403338,
+              0.7611064935880679
+            ],
+            "target_position": [
+              0.2753136725587318,
+              0.12068767211741381,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010304353932469715,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20853208180339916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064935880679,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575722044758788,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08669140651518946,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17975897728681284,
+            "release_required_pad_clearance": 0.05334570325759473,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7081840124330934,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 270,
+            "max_placed_release_frames": 270
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31f3ca6af61adaa922866d06f3de3ccdd6b5ef8d88e56eeabf665f7e6692c56d",
+    "visual_seed": 4233309944980857377,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_32_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3e2361faa29b88e8d1404252df3f010e3a467b5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_32_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.2921674054548587,
+              0.12438451915384675,
+              1.0021602531650946
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+            "gripper_z": 1.0044876720011586,
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+            "gripper_position": [
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+              0.11946832605582622,
+              1.0044876720011586
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+              0.004916193098020535,
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+              0.09995891709341555,
+              1.0021602531650946
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+            "finger_b": [
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+              1.0021602531650946
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+            "finger_midpoint": [
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+              0.11217171812363115,
+              1.0021602531650946
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_tilt_deg": 1.2141701131418021,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3055082372433369,
+              0.003586785492159505,
+              0.7701463897966114
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+            "gripper_position": [
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+              -0.01452061644013336,
+              1.042579662852254
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+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "72f31fcaa62f209cc172e5223c00c7838ea4a7d06764857cb10d26d968cf7143",
+    "visual_seed": 6552583397450506047,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_33_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5df359e8d903b95b70a6aec428ad856c6c131f3
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_33_success.json
@@ -0,0 +1,1036 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29530291840892187,
+              0.11797056136882729,
+              1.0006722091081237
+            ],
+            "current_z": 1.0006722091081237,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.13956552227942343,
+            "gripper_z": 1.002680525496115,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2902269498137831,
+              0.11315179491647956,
+              1.002680525496115
+            ],
+            "object_minus_gripper": [
+              0.005075968595138758,
+              0.004818766452347731,
+              -0.0020083163879913712
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+            "object_to_gripper_xy": 0.006998997592591876,
+            "object_to_gripper_z": -0.0020083163879913712,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29530291840892187,
+              0.09349490058868283,
+              1.0006722091081237
+            ],
+            "finger_b": [
+              0.28355164545923867,
+              0.11797056136882729,
+              1.0006722091081237
+            ],
+            "finger_midpoint": [
+              0.2894272819340803,
+              0.10573273097875506,
+              1.0006722091081237
+            ],
+            "object_minus_finger_midpoint": [
+              0.005875636474841572,
+              0.01223783039007223,
+              0.0
+            ],
+            "finger_gap": 0.02715051355983267,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0505082845438294,
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+            "object_projection_between_fingers": 0.8126672406944221,
+            "object_to_finger_line_xy": 0.010593544384252373,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807531179751463,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0174744081710527,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
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+              0.004507260333919351,
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+            "held_gripper_dist": 0.007278627355929006,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
+            "held_z": 1.0422520463465705,
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+            "gripper_z": 1.0443960072554057,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.17866176361665,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.48383978104653197,
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+            "source_tilt_deg": 2.7924433807580273,
+            "max_source_tilt_deg": 89.79563338961235,
+            "source_upright_tilt_deg": 2.328291717801563,
+            "max_source_upright_tilt_deg": 89.80762263278,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.7924433807580273,
+            "source_upright_return_tilt_deg": 2.328291717801563,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.470348358154297e-08,
+            "max_target_xy_drift": 1.1214608862646261e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+              "controller_target_minus_raw_target": [
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0013,
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
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+                "tilt_strategy": "wrist_velocity",
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
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+              "source_pose_held_object": "beaker_a",
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 2.781386933487352,
+              "source_return_best_wrist_position": -1.6259123086929321,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6259123086929321
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3083,
+              0.011,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
+              0.3083,
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0013,
+              -0.0008
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3065,
+              -0.0155,
+              1.0346
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0018450262709194033,
+                -0.0012994956860983837,
+                -0.0007847540518065462
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.328295286427169,
+            "pour_controller_source_return_step_error_deg": 2.792447592736457,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.781386933487352,
+            "pour_controller_source_return_best_wrist_position": -1.6259123086929321,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6259123086929321,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01796237983678561,
+            "valid_pour_held_xy_dist": 0.015710412413783383,
+            "valid_pour_held_gripper_dist": 0.007278627355929006,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0422520463465705,
+            "valid_pour_source_tilt_deg": 2.7924433807580273,
+            "valid_pour_source_upright_tilt_deg": 2.328291717801563,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.470348358154297e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31690248237323737,
+              -0.02693305425719179,
+              1.0422520463465705
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3062750013605991,
+              -0.0021722045973443915,
+              1.0422520463465705
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3115887418669182,
+              -0.01455262942726809,
+              1.0422520463465705
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31690248237323737,
+              -0.0021722045973443915,
+              1.0422520463465705
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026945185628448585,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024423173760297845,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0298504350945341,
+              -0.9991744642189501,
+              0.027556153168416423
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004953723966133448,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03719142825775999,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31690248237323737,
+              -0.02693305425719179,
+              1.0422520463465705
+            ],
+            "held_grasp_finger_b": [
+              0.3062750013605991,
+              -0.0021722045973443915,
+              1.0422520463465705
+            ],
+            "held_grasp_midpoint": [
+              0.3115887418669182,
+              -0.01455262942726809,
+              1.0422520463465705
+            ],
+            "held_grasp_object_position": [
+              0.31690248237323737,
+              -0.0021722045973443915,
+              1.0422520463465705
+            ],
+            "held_grasp_finger_gap": 0.026945185628448585,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024423173760297845,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0298504350945341,
+              -0.9991744642189501,
+              0.027556153168416423
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004953723966133448,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719142825775999,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2547088225266343,
+              0.11760590480649884,
+              0.7611133435748546
+            ],
+            "target_position": [
+              0.27068127190759617,
+              0.11512871136598145,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.016163403928910882,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20485857888793163,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611133435748546,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752264568624198,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09267678275716983,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17728176925881922,
+            "release_required_pad_clearance": 0.056338391378584915,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.990941452397151,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 273,
+            "max_placed_release_frames": 273
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eba79d14c6e42ba0a0db60eed7657979fa1fcf6e0c3b6996eee60706f525d02f",
+    "visual_seed": 7959090661368373914,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_34_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d8caf9d69f4e0b46e87537d0efa4c5ab47a42ff
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_34_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2908685126992766,
+              0.1192079331806579,
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+            "held_grasp_midpoint": [
+              0.3127957757405502,
+              -0.021641013135390033,
+              1.0418349613559499
+            ],
+            "held_grasp_object_position": [
+              0.3181027816094722,
+              -0.009217418892509047,
+              1.0418349613559499
+            ],
+            "held_grasp_finger_gap": 0.027019252780528066,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024674328717219994,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.014739382667352436,
+              -0.9993393301656027,
+              0.033221285085765155
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005140015162423642,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03722664173084521,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2563603293273464,
+              0.11549854711642914,
+              0.7611075114227881
+            ],
+            "target_position": [
+              0.2659253309733625,
+              0.11563114131117104,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00956592064094041,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20613327981715587,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611075114227881,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572622521978081,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567952709594094,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17654941379944414,
+            "release_required_pad_clearance": 0.05283976354797047,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7198134021168251,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5bade82643ddcfd256ece093eadd40095d8ca90cefddcbd1bda322c1906765fa",
+    "visual_seed": 6849092788480246143,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_35_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb7f475e609400c5f8185fb145e627ae8bf66641
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_35_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29554887996324947,
+              0.11815478962515755,
+              1.002258724583872
+            ],
+            "current_z": 1.002258724583872,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14115215696446126,
+            "gripper_z": 1.0044070676502492,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2905177676685132,
+              0.1134880488877406,
+              1.0044070676502492
+            ],
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+              0.00503111229473624,
+              0.0046667407374169495,
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+            "object_to_gripper_z": -0.002148343066377123,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29554887996324947,
+              0.09348289243851213,
+              1.002258724583872
+            ],
+            "finger_b": [
+              0.2843104358611136,
+              0.11815478962515755,
+              1.002258724583872
+            ],
+            "finger_midpoint": [
+              0.2899296579121815,
+              0.10581884103183484,
+              1.002258724583872
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056192220510679625,
+              0.01233594859332271,
+              0.0
+            ],
+            "finger_gap": 0.02711097815692445,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0521627876286574,
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+            "fingertip_min_top_clearance": 0.014971218913435586,
+            "object_projection_between_fingers": 0.828160893654772,
+            "object_to_finger_line_xy": 0.010227360142479354,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048339919954912894,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3367918201073636,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
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+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516797188048618,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09026597144308242,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18257973558492466,
+            "release_required_pad_clearance": 0.05513298572154121,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.355914659034484,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 273,
+            "max_placed_release_frames": 273
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f4dbed65393fdfc3d54f97de8a33b6fc42270e90db2136fc7a8c3fd6da669a7",
+    "visual_seed": 6813355903846455788,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_36_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a04768027adf71e0e58bae7bf575fb19490dd86
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_36_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29358368226492815,
+              0.12570571760203175,
+              1.0005484273991598
+            ],
+            "current_z": 1.0005484273991598,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.1394420385936832,
+            "gripper_z": 1.0032616441389701,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28845319104195294,
+              0.12099355064331356,
+              1.0032616441389701
+            ],
+            "object_minus_gripper": [
+              0.005130491222975209,
+              0.004712166958718192,
+              -0.002713216739810287
+            ],
+            "object_to_gripper_xy": 0.006966093427155647,
+            "object_to_gripper_z": -0.002713216739810287,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29358368226492815,
+              0.10096518412366917,
+              1.0005484273991598
+            ],
+            "finger_b": [
+              0.2822863939736907,
+              0.12570571760203175,
+              1.0005484273991598
+            ],
+            "finger_midpoint": [
+              0.2879350381193094,
+              0.11333545086285046,
+              1.0005484273991598
+            ],
+            "object_minus_finger_midpoint": [
+              0.00564864414561872,
+              0.01237026673918129,
+              0.0
+            ],
+            "finger_gap": 0.027197844023549186,
+            "fingertip_max_gap": 0.09143039156380664,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0503213110592897,
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+            "fingertip_min_top_clearance": 0.014931865098038965,
+            "object_projection_between_fingers": 0.8274641032838069,
+            "object_to_finger_line_xy": 0.010276584384485333,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821519578190332,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4079606106516052,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3097258023029988,
+              0.009975545896820802,
+              0.7701463897966115
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+            "gripper_position": [
+              0.31385291119484376,
+              -0.004974804365319815,
+              1.0445297904054471
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+              0.014950350262140618,
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+              -0.0006715132267578854,
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+            "held_minus_target": [
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+              0.27150674911375583
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+            "held_minus_gripper": [
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+              0.00430329113856193,
+              -0.002876651495079763
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+            "xy_dist": 0.015509545472573782,
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+            "held_gripper_dist": 0.0074751782647664135,
+            "max_held_gripper_dist": 0.00758817976822299,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966115,
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+            "required_height": 0.8001463897966116,
+            "gripper_z": 1.0445297904054471,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.21738210602145,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.8879042800762201,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.47005870205149,
+            "max_source_tilt_deg": 89.87283058535564,
+            "source_upright_tilt_deg": 2.652240804801214,
+            "max_source_upright_tilt_deg": 89.69492020103968,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.47005870205149,
+            "source_upright_return_tilt_deg": 2.652240804801214,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.9802322387695312e-08,
+            "max_target_xy_drift": 1.3809036103101133e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3097,
+                0.01,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.01,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.0019,
+                -0.0013
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+              "controller_last_pour_pose_position": [
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+                1.034
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              "height_range_2": [
+                0.2,
+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
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+                "pour_pose_offset_m": [
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.652241129537377,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6269186735153198
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3097,
+              0.01,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
+              0.3097,
+              0.01,
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0006,
+              0.0019,
+              -0.0013
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3091,
+              -0.0133,
+              1.034
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0006078032126253152,
+                0.0019147450849528779,
+                -0.001301966749043178
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.652241129537377,
+            "pour_controller_source_return_step_error_deg": 3.470058680575536,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.463902841417177,
+            "pour_controller_source_return_best_wrist_position": -1.6269186735153198,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6269186735153198,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.015509545472573782,
+            "valid_pour_held_xy_dist": 0.014282613628678031,
+            "valid_pour_held_gripper_dist": 0.0074751782647664135,
+            "valid_pour_required_height": 0.8001463897966116,
+            "valid_pour_held_z": 1.0416531389103674,
+            "valid_pour_source_tilt_deg": 3.47005870205149,
+            "valid_pour_source_upright_tilt_deg": 2.652240804801214,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.9802322387695312e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3192459485248338,
+              -0.02585375689369388,
+              1.0416531389103674
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3094892014989461,
+              -0.0006715132267578854,
+              1.0416531389103674
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31436757501188994,
+              -0.013262635060225883,
+              1.0416531389103674
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3192459485248338,
+              -0.0006715132267578854,
+              1.0416531389103674
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027006286464971566,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02479611272546013,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.03681101417228662,
+              -0.9989288012304514,
+              0.028039245851150363
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004425880272910588,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03696303795431963,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3192459485248338,
+              -0.02585375689369388,
+              1.0416531389103674
+            ],
+            "held_grasp_finger_b": [
+              0.3094892014989461,
+              -0.0006715132267578854,
+              1.0416531389103674
+            ],
+            "held_grasp_midpoint": [
+              0.31436757501188994,
+              -0.013262635060225883,
+              1.0416531389103674
+            ],
+            "held_grasp_object_position": [
+              0.3192459485248338,
+              -0.0006715132267578854,
+              1.0416531389103674
+            ],
+            "held_grasp_finger_gap": 0.027006286464971566,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02479611272546013,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03681101417228662,
+              -0.9989288012304514,
+              0.028039245851150363
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004425880272910588,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696303795431963,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2666540747573728,
+              0.12449766596220882,
+              0.7611063351486849
+            ],
+            "target_position": [
+              0.268952437542648,
+              0.12162637202033595,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0036778798775074146,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21207778454185178,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063351486849,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548937374100358,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08612798576995508,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18269164108464572,
+            "release_required_pad_clearance": 0.05306399288497754,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1575677179722366,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6772b308c8ff158ea6fc31b8c0bb95c0de3b3b559a110c2ecd330cc6715dc95",
+    "visual_seed": 5060519669242532077,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_37_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd34708e21bbd9e52fa40615650d2ee2836e26de
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_37_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2927773392726411,
+              0.12678325771954557,
+              1.0022452606343604
+            ],
+            "current_z": 1.0022452606343604,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
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+              1.0415601771361975
+            ],
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+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02470058439597407,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.014351309774353593,
+              -0.9995106303173551,
+              0.027794600021660454
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0051375461334743164,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037217695944644066,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2553371513265959,
+              0.12893963451955226,
+              0.761128412709273
+            ],
+            "target_position": [
+              0.2679584857748,
+              0.12412965691526039,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.013506811903895513,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20626541192805445,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761128412709273,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527558117522766,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0906810739900457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1790310537629326,
+            "release_required_pad_clearance": 0.05534053699502285,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.69121429715458,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 273,
+            "max_placed_release_frames": 273
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4ed92f4633bcf42fccc3e8d7ff6947dfb2c8e901b8ea7822bd034720b17a5125",
+    "visual_seed": 8865551793889455717,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_38_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..92f9afc858f0bf584e785f0ce10a3c9df3f0aefc
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_38_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29899379092575357,
+              0.12287637337498161,
+              1.0021033048260164
+            ],
+            "current_z": 1.0021033048260164,
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+            "lift_margin": 0.14099667760196066,
+            "gripper_z": 1.0044539418333274,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29404016473234873,
+              0.1180199753083238,
+              1.0044539418333274
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+              0.0049536261934048365,
+              0.004856398066657816,
+              -0.002350637007310974
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+            "object_to_gripper_z": -0.002350637007310974,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29899379092575357,
+              0.09860868157986723,
+              1.0021033048260164
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+              0.12287637337498161,
+              1.0021033048260164
+            ],
+            "finger_midpoint": [
+              0.2930188301640124,
+              0.11074252747742441,
+              1.0021033048260164
+            ],
+            "object_minus_finger_midpoint": [
+              0.005974960761741144,
+              0.0121338458975572,
+              0.0
+            ],
+            "finger_gap": 0.02705035100474756,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.051939589749778,
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+            "fingertip_min_top_clearance": 0.014950885477128488,
+            "object_projection_between_fingers": 0.8048429266183535,
+            "object_to_finger_line_xy": 0.010720637689942551,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836070253066875,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7270635694858645,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09246351692988285,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1817212453312122,
+            "release_required_pad_clearance": 0.056231758464941425,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.742003137456582,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "92ebf344d11815f7c24a7d7f854774b5af195149cfd95307cbc84f32276ae93f",
+    "visual_seed": 631839297827730125,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_39_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ec45f02a6d08fc1811fb88048d795dff1869466
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_39_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29332471105533836,
+              0.11780550948954004,
+              1.000038878320483
+            ],
+            "current_z": 1.000038878320483,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.1389324895150067,
+            "gripper_z": 1.0023365391033074,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2882648773448942,
+              0.1131101410595179,
+              1.0023365391033074
+            ],
+            "object_minus_gripper": [
+              0.0050598337104441615,
+              0.004695368430022134,
+              -0.002297660782824451
+            ],
+            "object_to_gripper_xy": 0.006902782183366041,
+            "object_to_gripper_z": -0.002297660782824451,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29332471105533836,
+              0.09313150739038217,
+              1.000038878320483
+            ],
+            "finger_b": [
+              0.2820179289042801,
+              0.11780550948954004,
+              1.000038878320483
+            ],
+            "finger_midpoint": [
+              0.2876713199798092,
+              0.10546850843996111,
+              1.000038878320483
+            ],
+            "object_minus_finger_midpoint": [
+              0.005653391075529146,
+              0.012337001049578925,
+              0.0
+            ],
+            "finger_gap": 0.02714129146154869,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.000038878320483,
+            "object_top_z": 1.0499312825414016,
+            "finger_top_clearance": 0.04989240422091856,
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+            "object_projection_between_fingers": 0.8264530315704219,
+            "object_to_finger_line_xy": 0.010278934844540122,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483516865646892,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3445729303985183,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.009236992193989532,
+              0.7701464494012564
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+              -0.00650225213772318,
+              1.0458250143039238
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+              0.015739244331712712,
+              -0.2756785649026674
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+              0.004233822134743784,
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+            "xy_dist": 0.01716838134162071,
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+            "held_gripper_dist": 0.007275834427196693,
+            "max_held_gripper_dist": 0.00736350995899268,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012564,
+            "held_z": 1.0433565485264298,
+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.0458250143039238,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.29371630018551,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 0.7673162494029786,
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+            "source_tilt_deg": 4.078417837428154,
+            "max_source_tilt_deg": 89.98941581043358,
+            "source_upright_tilt_deg": 3.3390847876185275,
+            "max_source_upright_tilt_deg": 89.92019875335409,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.078417837428154,
+            "source_upright_return_tilt_deg": 3.3390847876185275,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.794434093570879e-07,
+            "max_target_xy_drift": 2.3195915738214075e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0092,
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+              "controller_target_position": [
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+                0.0092,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                0.002,
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+              "controller_last_pour_pose_position": [
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+                1.0349
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
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+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
+                ],
+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+                  0.0019588130860750466,
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+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.339083871038934,
+              "source_return_step_error_deg": 4.078417338068455,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
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+              "source_return_best_wrist_position": -1.6272037029266357,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6272037029266357
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              0.0092,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.002,
+              -0.0005
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+              0.3054,
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+              1.0349
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.0603,
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+              0.3,
+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0019153040945706096,
+                0.0019588130860750466,
+                -0.00048744144229860586
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.339083871038934,
+            "pour_controller_source_return_step_error_deg": 4.078417338068455,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.073181291267175,
+            "pour_controller_source_return_best_wrist_position": -1.6272037029266357,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6272037029266357,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01716838134162071,
+            "valid_pour_held_xy_dist": 0.016795276012634003,
+            "valid_pour_held_gripper_dist": 0.007275834427196693,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.0433565485264298,
+            "valid_pour_source_tilt_deg": 4.078417837428154,
+            "valid_pour_source_upright_tilt_deg": 3.3390847876185275,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.794434093570879e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31572930173330654,
+              -0.027600685816017236,
+              1.0433565485264298
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3063092027012527,
+              -0.0022684300029793963,
+              1.0433565485264298
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31101925221727966,
+              -0.014934557909498316,
+              1.0433565485264298
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31572930173330654,
+              -0.0022684300029793963,
+              1.0433565485264298
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027027050344994932,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02480637658001335,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05125989299331579,
+              -0.9983023239236026,
+              0.027656706583543137
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004069985270423228,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03683418851171887,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31572930173330654,
+              -0.027600685816017236,
+              1.0433565485264298
+            ],
+            "held_grasp_finger_b": [
+              0.3063092027012527,
+              -0.0022684300029793963,
+              1.0433565485264298
+            ],
+            "held_grasp_midpoint": [
+              0.31101925221727966,
+              -0.014934557909498316,
+              1.0433565485264298
+            ],
+            "held_grasp_object_position": [
+              0.31572930173330654,
+              -0.0022684300029793963,
+              1.0433565485264298
+            ],
+            "held_grasp_finger_gap": 0.027027050344994932,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02480637658001335,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05125989299331579,
+              -0.9983023239236026,
+              0.027656706583543137
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004069985270423228,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03683418851171887,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25963913488068396,
+              0.12228419354950727,
+              0.7611181480215928
+            ],
+            "target_position": [
+              0.2686647536864539,
+              0.11608065754583964,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01095197031478213,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2080220090960724,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611181480215928,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526049321542339,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564394354736464,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18052131018419054,
+            "release_required_pad_clearance": 0.05282197177368232,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6806549481660131,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 270,
+            "max_placed_release_frames": 270
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18f157bf23b2cacf640194f0c9b1ed84ef2ea96048d6961d7859c580aebc9f86",
+    "visual_seed": 447130967163995703,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_3_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf1180debdf03a7c0f087b79b7a5b8f4d125a830
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_3_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
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+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00475752231710335,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037070776946310696,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31300761086413875,
+              -0.034199402356195334,
+              1.044307703346893
+            ],
+            "held_grasp_finger_b": [
+              0.3027275575329491,
+              -0.009201537264627725,
+              1.044307703346893
+            ],
+            "held_grasp_midpoint": [
+              0.30786758419854393,
+              -0.02170046981041153,
+              1.044307703346893
+            ],
+            "held_grasp_object_position": [
+              0.31300761086413875,
+              -0.009201537264627725,
+              1.044307703346893
+            ],
+            "held_grasp_finger_gap": 0.027029109412415306,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024653448613300932,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.031395636455959004,
+              -0.999133219534812,
+              0.027333562400947756
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00475752231710335,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037070776946310696,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2756710559902589,
+              0.12378956693669516,
+              0.7611091202621133
+            ],
+            "target_position": [
+              0.27117809493694195,
+              0.11862515969113585,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00684527583261684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21665399340543506,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611091202621133,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546074661708554,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09064296895390768,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18727882920919756,
+            "release_required_pad_clearance": 0.05532148447695384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.748654816229003,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b8c9dacd64958021093042f2b8a9e50819c5f3a1af9e64c5d567e984ab22f5e",
+    "visual_seed": 7163362159833453909,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_40_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ade2ed8ca98ed2b897e540c2d6965026b0aafccd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_40_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29907884764521275,
+              0.11826089356304563,
+              1.0039449859410654
+            ],
+            "current_z": 1.0039449859410654,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.14283829911236534,
+            "gripper_z": 1.0060904621016025,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2940835364942019,
+              0.11344667462023585,
+              1.0060904621016025
+            ],
+            "object_minus_gripper": [
+              0.004995311151010873,
+              0.004814218942809784,
+              -0.002145476160537063
+            ],
+            "object_to_gripper_xy": 0.006937567118574214,
+            "object_to_gripper_z": -0.002145476160537063,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29907884764521275,
+              0.09391470491102713,
+              1.0039449859410654
+            ],
+            "finger_b": [
+              0.2872446144684916,
+              0.11826089356304563,
+              1.0039449859410654
+            ],
+            "finger_midpoint": [
+              0.29316173105685217,
+              0.10608779923703637,
+              1.0039449859410654
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059171165883605825,
+              0.012173094326009257,
+              0.0
+            ],
+            "finger_gap": 0.02707001988844268,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013535009944221348,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0039449859410654,
+            "object_top_z": 1.0538337341716448,
+            "finger_top_clearance": 0.04988874823057943,
+            "fingertip_min_top_clearance": 0.01496662446917386,
+            "object_projection_between_fingers": 0.8088813387230717,
+            "object_to_finger_line_xy": 0.01064345259662849,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485488676062172,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8638086963538878,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2691566011981273,
+              0.11778580286091668,
+              0.7611072067487693
+            ],
+            "target_position": [
+              0.27462670962338703,
+              0.11462244267673623,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.006318934549348952,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21012370891408375,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611072067487693,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541211279304456,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08683115858539046,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18144171299446535,
+            "release_required_pad_clearance": 0.053415579292695234,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8451938210366496,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "972472440acde6c6d3d84f4b0478bc0fc0de220ab4afe17134b3062f145959db",
+    "visual_seed": 7667664095871444435,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_41_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..851f40c1a0f50ac1e05ff9b1300977c6a178a499
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_41_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29256057537678554,
+              0.1215775449251344,
+              1.0000371983871497
+            ],
+            "current_z": 1.0000371983871497,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.13893063076773882,
+            "gripper_z": 1.0025124685335678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2875097609396018,
+              0.11679764903690364,
+              1.0025124685335678
+            ],
+            "object_minus_gripper": [
+              0.005050814437183748,
+              0.004779895888230759,
+              -0.0024752701464181293
+            ],
+            "object_to_gripper_xy": 0.006954001091543566,
+            "object_to_gripper_z": -0.0024752701464181293,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29256057537678554,
+              0.09709365814608438,
+              1.0000371983871497
+            ],
+            "finger_b": [
+              0.28089018364448876,
+              0.1215775449251344,
+              1.0000371983871497
+            ],
+            "finger_midpoint": [
+              0.28672537951063715,
+              0.1093356015356094,
+              1.0000371983871497
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058351958661483905,
+              0.012241943389525,
+              0.0
+            ],
+            "finger_gap": 0.027123029974444247,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0498671427934836,
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+            "fingertip_min_top_clearance": 0.014948983321900177,
+            "object_projection_between_fingers": 0.8148624722256441,
+            "object_to_finger_line_xy": 0.010534831473841265,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812967670725059,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0201486443436938,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.30765314018790163,
+              0.0032959450936392706,
+              0.7701463897966114
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+            "gripper_position": [
+              0.31203070652973086,
+              -0.013295746170001163,
+              1.0468489283225684
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+            "target_minus_gripper": [
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+              0.016591691263640435,
+              -0.27670253852595694
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+              -0.008974398547640667,
+              1.0442285345884166
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+            "held_minus_target": [
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+              0.27408214479180515
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+              0.004321347622360496,
+              -0.0026203937341517936
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+            "held_gripper_dist": 0.00739106610588543,
+            "max_held_gripper_dist": 0.007485986530818149,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966114,
+            "held_z": 1.0442285345884166,
+            "required_height": 0.8001463897966115,
+            "gripper_z": 1.0468489283225684,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.24457308910726,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.43832897910072255,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 4.290814232617507,
+            "max_source_tilt_deg": 89.70608686686995,
+            "source_upright_tilt_deg": 3.8582250423382467,
+            "max_source_upright_tilt_deg": 89.97842932713021,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.290814232617507,
+            "source_upright_return_tilt_deg": 3.8582250423382467,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.3995135281412044e-08,
+            "max_target_xy_drift": 1.4505349099636078e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3077,
+                0.0033,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.3077,
+                0.0033,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0009,
+                0.0001,
+                0.0014
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
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+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
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+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                  -0.0009489369506795224,
+                  0.00010990981287982383,
+                  0.0013510002983481216
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+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.858218003455154,
+              "source_return_step_error_deg": 4.290807420074405,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 4.285595606947095,
+              "source_return_best_wrist_position": -1.6013503074645996,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6013503074645996
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3077,
+              0.0033,
+              0.7701
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0001,
+              0.0014
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0218,
+              1.0367
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0009489369506795224,
+                0.00010990981287982383,
+                0.0013510002983481216
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.858218003455154,
+            "pour_controller_source_return_step_error_deg": 4.290807420074405,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.285595606947095,
+            "pour_controller_source_return_best_wrist_position": -1.6013503074645996,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6013503074645996,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01715946695165903,
+            "valid_pour_held_xy_dist": 0.015685361158908635,
+            "valid_pour_held_gripper_dist": 0.00739106610588543,
+            "valid_pour_required_height": 0.8001463897966115,
+            "valid_pour_held_z": 1.0442285345884166,
+            "valid_pour_source_tilt_deg": 4.290814232617507,
+            "valid_pour_source_upright_tilt_deg": 3.8582250423382467,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.3995135281412044e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31742397544443424,
+              -0.034646210719381586,
+              1.0442285345884166
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.30802045789415056,
+              -0.008974398547640667,
+              1.0442285345884166
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3127222166692924,
+              -0.021810304633511128,
+              1.0442285345884166
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31742397544443424,
+              -0.008974398547640667,
+              1.0442285345884166
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027339862517935937,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024983400173266154,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.06702061772679392,
+              -0.9977336059074922,
+              0.005990696316120479
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0038317075963975903,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03659832042843722,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31742397544443424,
+              -0.034646210719381586,
+              1.0442285345884166
+            ],
+            "held_grasp_finger_b": [
+              0.30802045789415056,
+              -0.008974398547640667,
+              1.0442285345884166
+            ],
+            "held_grasp_midpoint": [
+              0.3127222166692924,
+              -0.021810304633511128,
+              1.0442285345884166
+            ],
+            "held_grasp_object_position": [
+              0.31742397544443424,
+              -0.008974398547640667,
+              1.0442285345884166
+            ],
+            "held_grasp_finger_gap": 0.027339862517935937,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024983400173266154,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06702061772679392,
+              -0.9977336059074922,
+              0.005990696316120479
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038317075963975903,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659832042843722,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26566135224952214,
+              0.12108794856491387,
+              0.761107121354847
+            ],
+            "target_position": [
+              0.26788768726011764,
+              0.12046500286186965,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0023118453513036917,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2119322802836187,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761107121354847,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551062528698532,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08766517248443799,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1821825258291468,
+            "release_required_pad_clearance": 0.053832586242219,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.670895266411169,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48f6954d7a401df2ee6678eac8b2d9b19c53deaeaa9eee6259d46dff2aba41be",
+    "visual_seed": 4723088479170946365,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_43_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da94c214f41279cc68218e916bc1d1025c971eba
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_43_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+                "panda_joint4",
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+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
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+                "ur5e",
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+                "wrist",
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
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+                  "b": "/World/beaker_2/mesh"
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+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027089033847023186,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02468999997424668,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04981971213060131,
+              -0.9983913739970218,
+              0.027067704216708677
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004319613417428659,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03688300431349827,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.317694159694872,
+              -0.03385856825104781,
+              1.0444259260106272
+            ],
+            "held_grasp_finger_b": [
+              0.30781361746726865,
+              -0.008635748423484631,
+              1.0444259260106272
+            ],
+            "held_grasp_midpoint": [
+              0.31275388858107034,
+              -0.021247158337266224,
+              1.0444259260106272
+            ],
+            "held_grasp_object_position": [
+              0.317694159694872,
+              -0.008635748423484631,
+              1.0444259260106272
+            ],
+            "held_grasp_finger_gap": 0.027089033847023186,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02468999997424668,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04981971213060131,
+              -0.9983913739970218,
+              0.027067704216708677
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004319613417428659,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03688300431349827,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26738990873759644,
+              0.12331407199356846,
+              0.7611064562918739
+            ],
+            "target_position": [
+              0.2746101769618576,
+              0.11515373514261623,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01089602545661876,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20870848599068184,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064562918739,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589087706139563,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635888727337425,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1802174131042252,
+            "release_required_pad_clearance": 0.053179443636687126,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3825095620412058,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 231,
+            "max_placed_release_frames": 231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c559c3865673662b94dcce03299f42ca3ae2f7adb43aa9a752fbdda6ee8a3aef",
+    "visual_seed": 987875878748440037,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_44_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a67b9c1767e3deb6d83beb7847c2ff4a17820f4
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_44_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2940466738135401,
+              0.11972316615235261,
+              0.9999119291615216
+            ],
+            "current_z": 0.9999119291615216,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.13880524233282154,
+            "gripper_z": 1.0019826459538828,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2891872027389851,
+              0.11493033858422029,
+              1.0019826459538828
+            ],
+            "object_minus_gripper": [
+              0.004859471074554977,
+              0.0047928275681323185,
+              -0.002070716792361149
+            ],
+            "object_to_gripper_xy": 0.006825368504504768,
+            "object_to_gripper_z": -0.002070716792361149,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2940466738135401,
+              0.09555352241616263,
+              0.9999119291615216
+            ],
+            "finger_b": [
+              0.2821374543037661,
+              0.11972316615235261,
+              0.9999119291615216
+            ],
+            "finger_midpoint": [
+              0.28809206405865306,
+              0.10763834428425761,
+              0.9999119291615216
+            ],
+            "object_minus_finger_midpoint": [
+              0.005954609754887041,
+              0.012084821868094994,
+              0.0
+            ],
+            "finger_gap": 0.026944409209821794,
+            "fingertip_max_gap": 0.09163523293591883,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013472204604910916,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9999119291615216,
+            "object_top_z": 1.0497768399781162,
+            "finger_top_clearance": 0.04986491081659461,
+            "fingertip_min_top_clearance": 0.0149594732449784,
+            "object_projection_between_fingers": 0.8046428687150203,
+            "object_to_finger_line_xy": 0.010682794730655904,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048317616467959415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4274678426354017,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2645981954983955,
+              0.1198104302120566,
+              0.7611064160138202
+            ],
+            "target_position": [
+              0.2696133684626223,
+              0.11830332190752516,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00523672944715485,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21083758367501357,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064160138202,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515195141566615,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09098366386773445,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18199833930630302,
+            "release_required_pad_clearance": 0.055491831933867225,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.125209019032654,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "22ef1727de45b6c90fbe58311541796ccc3d605335ea4064a078d44b88fcc9ac",
+    "visual_seed": 5757542716595043393,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_45_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd508df1f8ce8247d54855764d000fac909d1ac2
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_45_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.12201488163271809,
+              1.0018454561502619
+            ],
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+            "lift_margin": 0.14073888853085104,
+            "gripper_z": 1.0044741187530104,
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+              0.11721767657542788,
+              1.0044741187530104
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+              0.09783574002868654,
+              1.0018454561502619
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+              0.12201488163271809,
+              1.0018454561502619
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+              0.10992531083070231,
+              1.0018454561502619
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+              0.012089570802015781,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823185092798153,
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+            "object_tilt_deg": 1.39507588385745,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.00677368589364745,
+              0.7701464494012564
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+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
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+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.0427960835003183,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.14328821390515,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.997674014361132,
+            "max_source_tilt_deg": 89.95384205805439,
+            "source_upright_tilt_deg": 2.1127618946112467,
+            "max_source_upright_tilt_deg": 89.76347001199115,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.997674014361132,
+            "source_upright_return_tilt_deg": 2.1127618946112467,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 1.0244548320770264e-08,
+            "max_target_xy_drift": 1.231918354826451e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+                "gripper",
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+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b6bd50e492a9bd44dfeaf1ff601dab9552d4bdab26085ac56261ac2c8db913f2",
+    "visual_seed": 31945108966437351,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_46_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c887dc760a3e94ed7e51d77c231860687798a1e8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_46_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.0006807412292673
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+              0.11763821618566082,
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+            "object_to_gripper_z": -0.002282854806329393,
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+              0.0978080015107385,
+              1.0006807412292673
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+              0.12238373062843223,
+              1.0006807412292673
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+            "finger_midpoint": [
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+              0.11009586606958537,
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+              0.012287864558846867,
+              0.0
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
+          }
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+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
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+              0.005995993359617965,
+              0.7701463897966119
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+            "max_source_tilt_deg": 89.95777668965817,
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              "controller_target_position": [
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+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "valid_pour_held_grasp_finger_a": [
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+              -0.032029849097710714,
+              1.0446391439491736
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3115582163494061,
+              -0.006794460927301339,
+              1.0446391439491736
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3163769691178111,
+              -0.019412155012506024,
+              1.0446391439491736
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3211957218862161,
+              -0.006794460927301339,
+              1.0446391439491736
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02701307700139472,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024718846390899135,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04948547007010218,
+              -0.9984297730056536,
+              0.026252173773234293
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0042017812537732905,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03688391038285324,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3211957218862161,
+              -0.032029849097710714,
+              1.0446391439491736
+            ],
+            "held_grasp_finger_b": [
+              0.3115582163494061,
+              -0.006794460927301339,
+              1.0446391439491736
+            ],
+            "held_grasp_midpoint": [
+              0.3163769691178111,
+              -0.019412155012506024,
+              1.0446391439491736
+            ],
+            "held_grasp_object_position": [
+              0.3211957218862161,
+              -0.006794460927301339,
+              1.0446391439491736
+            ],
+            "held_grasp_finger_gap": 0.02701307700139472,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024718846390899135,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04948547007010218,
+              -0.9984297730056536,
+              0.026252173773234293
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042017812537732905,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03688391038285324,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25327930469174,
+              0.12337083180412718,
+              0.761106508014766
+            ],
+            "target_position": [
+              0.2690618622195655,
+              0.11928808816275425,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.016302083233755545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20373936179318564,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106508014766,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752513087153852,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336888,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1763704971196668,
+            "release_required_pad_clearance": 0.052461859836684444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 285,
+            "max_placed_release_frames": 285
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "baf9a6ac6e61cae3fc5194345529d39a2e50b1228bf16513a6bace039e209f81",
+    "visual_seed": 9124628336439162407,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_47_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee21c2ea315db1d12d4da171e7990b0b4db77a5d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_47_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2964040889848728,
+              0.12531675195792724,
+              1.0001989832532745
+            ],
+            "current_z": 1.0001989832532745,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.13909223681992966,
+            "gripper_z": 1.0023490917074591,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2913188038999655,
+              0.1205215392780114,
+              1.0023490917074591
+            ],
+            "object_minus_gripper": [
+              0.005085285084907298,
+              0.004795212679915839,
+              -0.0021501084541846183
+            ],
+            "object_to_gripper_xy": 0.006989577171789884,
+            "object_to_gripper_z": -0.0021501084541846183,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2964040889848728,
+              0.10075570164866401,
+              1.0001989832532745
+            ],
+            "finger_b": [
+              0.28478393682640335,
+              0.12531675195792724,
+              1.0001989832532745
+            ],
+            "finger_midpoint": [
+              0.2905940129056381,
+              0.11303622680329563,
+              1.0001989832532745
+            ],
+            "object_minus_finger_midpoint": [
+              0.005810076079234727,
+              0.012280525154631614,
+              0.0
+            ],
+            "finger_gap": 0.02717118194853035,
+            "fingertip_max_gap": 0.09165636322250956,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013585590974265175,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0001989832532745,
+            "object_top_z": 1.050102601515051,
+            "finger_top_clearance": 0.04990361826177647,
+            "fingertip_min_top_clearance": 0.014971085478532908,
+            "object_projection_between_fingers": 0.8171030056803505,
+            "object_to_finger_line_xy": 0.010503891303149564,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832818161125478,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3688522231419977,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26646873189794007,
+              0.12331440307342988,
+              0.7611075922679306
+            ],
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+              0.2717751865731644,
+              0.12240840518044774,
+              0.7774145980897915
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+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18098438778728032,
+            "release_required_pad_clearance": 0.05332802578151476,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.672997461695437,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb7b00a1b69065501f82b0eb8a79b16720d780e89fa05894349548946b0e1230",
+    "visual_seed": 5709471560429986435,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_48_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e88de175ba0fa1123084e60063cc2fe41f19af
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_48_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+          "skill": "pick",
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+          "failure_code": null,
+          "failure_messages": {},
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
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+            ],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "max_wrist_deg": 121.152843648554,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.76191416655837,
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+            "max_source_upright_tilt_deg": 89.72669883235532,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
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+            "source_return_tilt_deg": 4.095616536702798,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
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+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9879d832005887e6ef7d6b7ffbc57ab5466e996973252c1c7d1f147b42875551",
+    "visual_seed": 5494622788985186444,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_49_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..90b21b4d4d66ebbe46b6a5cb5252883c05c2ca16
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_49_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "passed": true,
+          "metrics": {
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+              0.11948782140276493,
+              1.0005852023440802
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+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.13947857512002448,
+            "gripper_z": 1.0030687676412091,
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+            "gripper_position": [
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+              0.11482339172754723,
+              1.0030687676412091
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+              0.004664429675217699,
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+            "object_to_gripper_z": -0.002483565297128898,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.0947792852787716,
+              1.0005852023440802
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+            "finger_b": [
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+              0.11948782140276493,
+              1.0005852023440802
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+            "finger_midpoint": [
+              0.28977206835023295,
+              0.10713355334076827,
+              1.0005852023440802
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+              0.01235426806199666,
+              0.0
+            ],
+            "finger_gap": 0.027132906336786753,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014954244847534374,
+            "object_projection_between_fingers": 0.8292803997504242,
+            "object_to_finger_line_xy": 0.010209129403107949,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833719092846388,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4061237335513035,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.007608670132838267,
+              0.7701463897966117
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+              -0.008759463045639362,
+              1.0447896719126466
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+              0.01636813317847763,
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+              0.2720216755043874
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0447896719126466,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.25737969380104,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.94254244630005,
+            "source_upright_tilt_deg": 1.6710853504575593,
+            "max_source_upright_tilt_deg": 89.92100363037072,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.0750529191180203,
+            "source_upright_return_tilt_deg": 1.6710853504575593,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0004,
+              -0.0005
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0171,
+              1.0348
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
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+              "position_threshold_m": 0.015,
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+              "pour_pose_offset_m": [
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+            "pour_controller_source_pose_feedback": true,
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+            "pour_controller_source_pose_held_object": "beaker_a",
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+            ],
+            "valid_pour_xy_dist": 0.01737207260123703,
+            "valid_pour_held_xy_dist": 0.016227914168144796,
+            "valid_pour_held_gripper_dist": 0.00731233633165338,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.042168065300999,
+            "valid_pour_source_tilt_deg": 2.0750529191180203,
+            "valid_pour_source_upright_tilt_deg": 1.6710853504575593,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.9379567398396146e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3156950758987889,
+              -0.028998017153793278,
+              1.042168065300999
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3051645586328915,
+              -0.00431839199682103,
+              1.042168065300999
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3104298172658402,
+              -0.016658204575307152,
+              1.042168065300999
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3156950758987889,
+              -0.00431839199682103,
+              1.042168065300999
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026832362769164057,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024630346274854126,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.0036829081959793256,
+              -0.9995747117833076,
+              0.02892804436075002
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005231987430120846,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037366294004321524,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3156950758987889,
+              -0.028998017153793278,
+              1.042168065300999
+            ],
+            "held_grasp_finger_b": [
+              0.3051645586328915,
+              -0.00431839199682103,
+              1.042168065300999
+            ],
+            "held_grasp_midpoint": [
+              0.3104298172658402,
+              -0.016658204575307152,
+              1.042168065300999
+            ],
+            "held_grasp_object_position": [
+              0.3156950758987889,
+              -0.00431839199682103,
+              1.042168065300999
+            ],
+            "held_grasp_finger_gap": 0.026832362769164057,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024630346274854126,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0036829081959793256,
+              -0.9995747117833076,
+              0.02892804436075002
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005231987430120846,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037366294004321524,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25899692975007765,
+              0.12276321542632576,
+              0.7611064082882132
+            ],
+            "target_position": [
+              0.27074981496744,
+              0.11751951371577017,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.012869604444650887,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20754033694245308,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064082882132,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568261767574692,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625845239583411,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1794663240818692,
+            "release_required_pad_clearance": 0.05312922619791706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2844886073149102,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 263,
+            "max_placed_release_frames": 263
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d9ad6fe88f1e04af4e13b3bb2423c834c3a6a6c55e469088e56fdb2c0a55e70",
+    "visual_seed": 298122550276824444,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_4_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fbc60443c011f39caf4dce5681cabab6767c5db
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_4_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2966814345439591,
+              0.11856310082347246,
+              0.9999982830195877
+            ],
+            "current_z": 0.9999982830195877,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.13889153658624265,
+            "gripper_z": 1.002811483440687,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29150275891625177,
+              0.11361420628524194,
+              1.002811483440687
+            ],
+            "object_minus_gripper": [
+              0.005178675627707352,
+              0.004948894538230525,
+              -0.0028132004210992267
+            ],
+            "object_to_gripper_xy": 0.007163116528965451,
+            "object_to_gripper_z": -0.0028132004210992267,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2966814345439591,
+              0.09413199148339774,
+              0.9999982830195877
+            ],
+            "finger_b": [
+              0.28460235803041145,
+              0.11856310082347246,
+              0.9999982830195877
+            ],
+            "finger_midpoint": [
+              0.2906418962871853,
+              0.1063475461534351,
+              0.9999982830195877
+            ],
+            "object_minus_finger_midpoint": [
+              0.006039538256773835,
+              0.012215554670037362,
+              0.0
+            ],
+            "finger_gap": 0.027254049112137912,
+            "fingertip_max_gap": 0.0914145207795525,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013627024556068956,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.9999982830195877,
+            "object_top_z": 1.0498390449210537,
+            "finger_top_clearance": 0.049840761901466024,
+            "fingertip_min_top_clearance": 0.014952228570439824,
+            "object_projection_between_fingers": 0.8035710947773179,
+            "object_to_finger_line_xy": 0.010827941118598148,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048207260389776255,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4044242968993494,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
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+                "robotiq_2f85",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "left_inner_finger",
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+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.27000813553870523,
+              0.11646929145070284,
+              0.7611064511481501
+            ],
+            "target_position": [
+              0.27202115107548264,
+              0.11490687219931363,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.0025482122102405158,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21224908754403737,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064511481501,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755554087668265,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08745697251108529,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18279124036813096,
+            "release_required_pad_clearance": 0.05372848625554265,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.466105033374602,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 266,
+            "max_placed_release_frames": 266
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6899c928be4e737f312c4d43e8271c9e993cae658f1b7927c1cc025773a622ca",
+    "visual_seed": 8066952786428273090,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_50_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b96dac2754293ee901eb9c01c9fce1ad2c9d4843
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_50_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
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+            },
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+          }
+        },
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "max_source_tilt_deg": 89.99335805488104,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.0615508148944706,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.725290298461914e-08,
+            "max_target_xy_drift": 2.7828317486789717e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fe158c7fbbd2ebb0fa52e1cff765379883b92f867cd308f308e0e1203c38dd1d",
+    "visual_seed": 2173461784147566444,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_51_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab2a8d9d6e2dea2afc598062d64ade61fe5a86cd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_51_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
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+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+              1.0020602735750082
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+            "lift_margin": 0.1409537655602422,
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+              0.1123101965634673,
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+              0.004731798043848073,
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+            "object_to_gripper_z": -0.0021005034876724338,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.09268580309973963,
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+              0.11704199460731537,
+              1.0020602735750082
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+            "finger_midpoint": [
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+              0.10486389885352751,
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+              0.012178095753787865,
+              0.0
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+            "fingertip_z_skew_max": 0.035,
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+            "fingertip_min_top_clearance": 0.014950198962041177,
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+            "object_to_finger_line_xy": 0.01050194605247091,
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+            "fingertip_line_xy_max_dist": 0.04835632049179943,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
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+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "rotation_satisfied_by_source_tilt": true,
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+            "uses_end_effector_tilt_evidence": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
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+            "pour_controller_lock_target_position": true,
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+            "pour_controller_pour_pose_offset": [
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+              0.0017,
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+              0.2
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+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "tilt_strategy": "wrist_velocity",
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+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+            "pour_controller_source_return_best_wrist_position": -1.6263322830200195,
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+            "pour_controller_wrist_compensated_return_position": -1.6263322830200195,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.016472328593372804,
+            "valid_pour_held_xy_dist": 0.0155891599366799,
+            "valid_pour_held_gripper_dist": 0.007137707684366833,
+            "valid_pour_required_height": 0.8001463321424696,
+            "valid_pour_held_z": 1.04313679612949,
+            "valid_pour_source_tilt_deg": 3.9814187164334642,
+            "valid_pour_source_upright_tilt_deg": 3.120536502454912,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 5.635123790351397e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3169606796170418,
+              -0.028629704649587487,
+              1.04313679612949
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.307104395289324,
+              -0.003604261508971392,
+              1.04313679612949
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3120325374531829,
+              -0.01611698307927944,
+              1.04313679612949
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3169606796170418,
+              -0.003604261508971392,
+              1.04313679612949
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026896452277819553,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024526975385409475,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04680879396578545,
+              -0.9985172301391916,
+              0.0277898888559368
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004351208748128302,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.036995401595025984,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3169606796170418,
+              -0.028629704649587487,
+              1.04313679612949
+            ],
+            "held_grasp_finger_b": [
+              0.307104395289324,
+              -0.003604261508971392,
+              1.04313679612949
+            ],
+            "held_grasp_midpoint": [
+              0.3120325374531829,
+              -0.01611698307927944,
+              1.04313679612949
+            ],
+            "held_grasp_object_position": [
+              0.3169606796170418,
+              -0.003604261508971392,
+              1.04313679612949
+            ],
+            "held_grasp_finger_gap": 0.026896452277819553,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024526975385409475,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04680879396578545,
+              -0.9985172301391916,
+              0.0277898888559368
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004351208748128302,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036995401595025984,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26995078987504695,
+              0.11253276808429827,
+              0.7611064904121485
+            ],
+            "target_position": [
+              0.27197270334048046,
+              0.1152784592849577,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003409831994553392,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21433682949192923,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064904121485,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540559174689151,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08730543353943941,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18395378646476526,
+            "release_required_pad_clearance": 0.05365271676971971,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.315164965280847,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "15dc06b1a80e30c1aff153e98b921e3a81a69daeceb634dce888487bd04854ed",
+    "visual_seed": 9025641644373780040,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_52_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd37f2744af22402d404966faa0a2bf01d56b2ac
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_52_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2937779680144507,
+              0.12597236555220695,
+              1.001728030792263
+            ],
+            "current_z": 1.001728030792263,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.14062128435891774,
+            "gripper_z": 1.0039441784948462,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28877292803088683,
+              0.12123042621293094,
+              1.0039441784948462
+            ],
+            "object_minus_gripper": [
+              0.005005039983563886,
+              0.004741939339276011,
+              -0.002216147702583271
+            ],
+            "object_to_gripper_xy": 0.006894665614404124,
+            "object_to_gripper_z": -0.002216147702583271,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2937779680144507,
+              0.10143735024603746,
+              1.001728030792263
+            ],
+            "finger_b": [
+              0.2822847710884891,
+              0.12597236555220695,
+              1.001728030792263
+            ],
+            "finger_midpoint": [
+              0.2880313695514699,
+              0.11370485789912221,
+              1.001728030792263
+            ],
+            "object_minus_finger_midpoint": [
+              0.005746598462980812,
+              0.012267507653084736,
+              0.0
+            ],
+            "finger_gap": 0.027093551846387818,
+            "fingertip_max_gap": 0.09144275865061044,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013546775923193902,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.001728030792263,
+            "object_top_z": 1.051570421728121,
+            "finger_top_clearance": 0.04984239093585807,
+            "fingertip_min_top_clearance": 0.014952717280757404,
+            "object_projection_between_fingers": 0.8200508455583195,
+            "object_to_finger_line_xy": 0.010407855127081962,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822137932530522,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4011556994024084,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
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+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
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+        },
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+        "post_done_wait_frames": 0,
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+      },
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+        "attach_object": null,
+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
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+      "reason": "executed",
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+              "held_object": "beaker_a",
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+              "allowed_object_paths": [
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26945713383295034,
+              0.12400750683374132,
+              0.7611063977716969
+            ],
+            "target_position": [
+              0.26925586981255417,
+              0.12200979531360337,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.002007824325880601,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2150054056190946,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063977716969,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548354042647647,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513958169118412,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18519870244418224,
+            "release_required_pad_clearance": 0.05256979084559206,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20558414359814378,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4aae079f15ec29b247d307b3c0cb1f8cdba2e805baa952fe196289cc78563c3d",
+    "visual_seed": 429899480283852173,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_53_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa919a8aa597ab6ddc9208c101da3dc9ea2a8205
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_53_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+          "skill": "pick",
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+              1.0001110164534124
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+            "stable_success_frames": 167,
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
+            "forbidden": [
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+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+            },
+            "failed_keys": []
+          }
+        },
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+      },
+      "physical_semantics": {
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+        "attach_object_path": null,
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "source_upright_axis_local": [
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+            "max_source_tilt_deg": 89.99221228652611,
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+            "max_source_upright_tilt_deg": 89.82879293598448,
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+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.732438086936783,
+            "source_upright_return_tilt_deg": 2.050520220465672,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.313225746154785e-10,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e58cb0d4ceb286326b9e98e5545a5d65f3fe5a2cc117557d016d60381d67e3af",
+    "visual_seed": 848516912744350557,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_54_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e695f74c080b8c2d85cb8bd4312fde99295cde
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_54_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+              1.001181303570835
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+              0.1215537791505145,
+              1.0037458980246106
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+              1.001181303570835
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+              0.11391909056596136,
+              1.001181303570835
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+              0.01237516664793023,
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+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+              -0.00836149717202371,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
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+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "source_name": "beaker",
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.172463610401342e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32152556169308705,
+              -0.02920537060783154,
+              1.0431582940146633
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3116815727498382,
+              -0.004013581102518886,
+              1.0431582940146633
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31660356722146266,
+              -0.016609475855175214,
+              1.0431582940146633
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32152556169308705,
+              -0.004013581102518886,
+              1.0431582940146633
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02704681823791453,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024786337919111306,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.03845319833401554,
+              -0.9989314484005566,
+              0.025638114873194454
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00444592249714919,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.036948548251306806,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32152556169308705,
+              -0.02920537060783154,
+              1.0431582940146633
+            ],
+            "held_grasp_finger_b": [
+              0.3116815727498382,
+              -0.004013581102518886,
+              1.0431582940146633
+            ],
+            "held_grasp_midpoint": [
+              0.31660356722146266,
+              -0.016609475855175214,
+              1.0431582940146633
+            ],
+            "held_grasp_object_position": [
+              0.32152556169308705,
+              -0.004013581102518886,
+              1.0431582940146633
+            ],
+            "held_grasp_finger_gap": 0.02704681823791453,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024786337919111306,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03845319833401554,
+              -0.9989314484005566,
+              0.025638114873194454
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00444592249714919,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036948548251306806,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2595440927745402,
+              0.1280116759629233,
+              0.7611130405818699
+            ],
+            "target_position": [
+              0.26852701904785836,
+              0.12328087684112363,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010152508299070231,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20781139495912349,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611130405818699,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573287229995362,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.088606426912183,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1790159724300554,
+            "release_required_pad_clearance": 0.0543032134560915,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5996239765834157,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 272,
+            "max_placed_release_frames": 272
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a0577f487eee28566ca4f810cbf407d27e442322297ebca774da4da11a2d95cd",
+    "visual_seed": 7764926519200832895,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_55_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc5dea4cd8f1441f0aefc28e4e1ab5f54433fbb1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_55_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29537315433244543,
+              0.12461882827871897,
+              1.0020709339607277
+            ],
+            "current_z": 1.0020709339607277,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.1409644855506067,
+            "gripper_z": 1.0046940830222257,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2901668536582702,
+              0.11976015133860939,
+              1.0046940830222257
+            ],
+            "object_minus_gripper": [
+              0.005206300674175213,
+              0.00485867694010958,
+              -0.0026231490614980757
+            ],
+            "object_to_gripper_xy": 0.0071212574955740685,
+            "object_to_gripper_z": -0.0026231490614980757,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29537315433244543,
+              0.09999559662749115,
+              1.0020709339607277
+            ],
+            "finger_b": [
+              0.2836240956600892,
+              0.12461882827871897,
+              1.0020709339607277
+            ],
+            "finger_midpoint": [
+              0.28949862499626733,
+              0.11230721245310506,
+              1.0020709339607277
+            ],
+            "object_minus_finger_midpoint": [
+              0.005874529336178103,
+              0.012311615825613909,
+              0.0
+            ],
+            "finger_gap": 0.027282666963412795,
+            "fingertip_max_gap": 0.09183915787421557,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013641333481706397,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0020709339607277,
+            "object_top_z": 1.051934966470994,
+            "finger_top_clearance": 0.04986403251026639,
+            "fingertip_min_top_clearance": 0.014959209753079933,
+            "object_projection_between_fingers": 0.8145475812978515,
+            "object_to_finger_line_xy": 0.010603794480988851,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048419578937107785,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5007379481084595,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26224965471882433,
+              0.12892680426105926,
+              0.7611063888054763
+            ],
+            "target_position": [
+              0.27057954255821864,
+              0.12255684014452964,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010486347040927277,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.210801824863771,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063888054763,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582844550523815,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336888,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18216350699407396,
+            "release_required_pad_clearance": 0.052461859836684444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae70203c576968f1e087a4199bbc00c93858a9611f9e2a5df30e6d1206eebcc8",
+    "visual_seed": 7887017141161416432,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_56_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fda0e349d576c4d448159c8f805eac972a44cbeb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_56_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+          "skill": "pick",
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+              1.001858961131703
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+              0.10514878619699025,
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+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+            ],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
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+                  "b": "/World/beaker_2/mesh"
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+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "ordinary_object_physical_only": true
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+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.9578354145502902,
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+            "max_source_tilt_deg": 89.97240059655361,
+            "source_upright_tilt_deg": 1.8902698891575953,
+            "max_source_upright_tilt_deg": 89.69385720347692,
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+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.7396323261460824,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.085099734265601e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0cc28c9574109033bdd0ca89f189c781b08935ac7f616ea748a1814d0007f617",
+    "visual_seed": 6518243573694125645,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_57_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3abaa22da00eb2fdb83c6babe65ae9e68dd50253
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_57_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
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+          "metrics": {
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+              0.11860930268423664,
+              1.001327084725737
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+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.14022063631561588,
+            "gripper_z": 1.0036701612284213,
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+            "gripper_position": [
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+              0.11375805145522462,
+              1.0036701612284213
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+              0.0048512512290120186,
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+              0.09441500376377136,
+              1.001327084725737
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+            "finger_b": [
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+              0.11860930268423664,
+              1.001327084725737
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+            "finger_midpoint": [
+              0.28617488381081213,
+              0.10651215322400401,
+              1.001327084725737
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+            "object_minus_finger_midpoint": [
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+              0.012097149460232631,
+              0.0
+            ],
+            "finger_gap": 0.027020094146985925,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014962073115419515,
+            "object_projection_between_fingers": 0.8017747374862928,
+            "object_to_finger_line_xy": 0.010771905701347211,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833924462481902,
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+            "object_tilt_deg": 1.4324761116764348,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.010655387161903158,
+              0.7701463897966117
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+              1.0436700047988692
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+            "missing_held_position_samples": 0,
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+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0436700047988692,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.27248124205593,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_upright_tilt_deg": 89.83403677768592,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
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+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.313395970156923,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_target_object": "beaker_c",
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0005,
+              -0.0008,
+              -0.0018
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0153,
+              1.0335
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
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+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.3041603991273036,
+            "pour_controller_source_return_best_wrist_position": -1.627662181854248,
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+            "pour_controller_wrist_compensated_return_position": -1.627662181854248,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.017940196820005083,
+            "valid_pour_held_xy_dist": 0.016126309809335188,
+            "valid_pour_held_gripper_dist": 0.00730276565570422,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.0411867117770854,
+            "valid_pour_source_tilt_deg": 3.313395970156923,
+            "valid_pour_source_upright_tilt_deg": 2.5013875920813806,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 1.2644054553268208e-07,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3154438072037157,
+              -0.026889920066654978,
+              1.0411867117770854
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3048001805556224,
+              -0.002237094154414608,
+              1.0411867117770854
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31012199387966904,
+              -0.014563507110534793,
+              1.0411867117770854
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3154438072037157,
+              -0.002237094154414608,
+              1.0411867117770854
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026852348383022875,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024271909069130855,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.03358131212264484,
+              -0.9990471723360796,
+              0.02787548965319353
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004917069507058436,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037226868586943115,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3154438072037157,
+              -0.026889920066654978,
+              1.0411867117770854
+            ],
+            "held_grasp_finger_b": [
+              0.3048001805556224,
+              -0.002237094154414608,
+              1.0411867117770854
+            ],
+            "held_grasp_midpoint": [
+              0.31012199387966904,
+              -0.014563507110534793,
+              1.0411867117770854
+            ],
+            "held_grasp_object_position": [
+              0.3154438072037157,
+              -0.002237094154414608,
+              1.0411867117770854
+            ],
+            "held_grasp_finger_gap": 0.026852348383022875,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024271909069130855,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03358131212264484,
+              -0.9990471723360796,
+              0.02787548965319353
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004917069507058436,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037226868586943115,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2627192883447134,
+              0.12349063630303517,
+              0.7611064023334111
+            ],
+            "target_position": [
+              0.26763974901129695,
+              0.11650894864512457,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00854136380937007,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21063399153265028,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064023334111,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754746104029624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08799736001401291,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18280248214985317,
+            "release_required_pad_clearance": 0.05399868000700646,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0085635883875352,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b97e4cb7ed3d47a5f41d118d4033cbfe1155b557172a9dba39215d3c2d6c7022",
+    "visual_seed": 5185499304108574284,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_58_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aa3d10dfe3972fc7339dc481de2f9be5984a18c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_58_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29857220418694713,
+              0.12262672491959684,
+              1.000104184749906
+            ],
+            "current_z": 1.000104184749906,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1389975575258503,
+            "gripper_z": 1.0021401225890207,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2935775419922646,
+              0.11777313281734418,
+              1.0021401225890207
+            ],
+            "object_minus_gripper": [
+              0.004994662194682531,
+              0.004853592102252655,
+              -0.002035937839114821
+            ],
+            "object_to_gripper_xy": 0.006964481799390409,
+            "object_to_gripper_z": -0.002035937839114821,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29857220418694713,
+              0.09834466927872515,
+              1.000104184749906
+            ],
+            "finger_b": [
+              0.2866014690701585,
+              0.12262672491959684,
+              1.000104184749906
+            ],
+            "finger_midpoint": [
+              0.2925868366285528,
+              0.11048569709916099,
+              1.000104184749906
+            ],
+            "object_minus_finger_midpoint": [
+              0.00598536755839435,
+              0.012141027820435843,
+              0.0
+            ],
+            "finger_gap": 0.027072434788594568,
+            "fingertip_max_gap": 0.09152297781218546,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013536217394297296,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.000104184749906,
+            "object_top_z": 1.0499732786389124,
+            "finger_top_clearance": 0.04986909388900651,
+            "fingertip_min_top_clearance": 0.01496072816670192,
+            "object_projection_between_fingers": 0.8044818814013407,
+            "object_to_finger_line_xy": 0.010736901148265289,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048261488906092734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3741563161661792,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
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+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
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+                "floor",
+                "ground",
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
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+                },
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+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2711427832323843,
+              0.12034738570436251,
+              0.7611063620610103
+            ],
+            "target_position": [
+              0.2741098572100443,
+              0.11970143589026562,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.003036573587324906,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21354745680927203,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063620610103,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546272579278585,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09038500439035556,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1839197393023258,
+            "release_required_pad_clearance": 0.05519250219517778,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.482766095287714,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c3ecc9ca94c618330cbff492a585be3711d0cb6e47fdb5798b5584e1524f01c0",
+    "visual_seed": 5359025805522851597,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_59_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d7f44e56b9d27e5f0cb474988ac208d13508c75
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_59_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              1.002945672024898
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+              0.11098039987815253,
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+            "fingertip_z_max_dist": 0.1,
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+              1.0
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+            "stable_success_frames": 171,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
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+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
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+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
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+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
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+            "max_held_gripper_dist": 0.007365427114249147,
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+            "target_z": 0.7701464494012565,
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+            "required_height": 0.8001464494012566,
+            "gripper_z": 1.045527202577609,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.13080262810236,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
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+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac3523923c4bb149ce76631a1cb6adea0dd13994feff8cdc499bb18b03a8ccae",
+    "visual_seed": 2804307036290914329,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_5_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b5c2270efff6e055105c546f227adb589569b9f
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_5_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2916504699322883,
+              0.12271812325827941,
+              1.0018684296944738
+            ],
+            "current_z": 1.0018684296944738,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1407619216797078,
+            "gripper_z": 1.0044872181935185,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2863125932732584,
+              0.11798798710089643,
+              1.0044872181935185
+            ],
+            "object_minus_gripper": [
+              0.005337876659029905,
+              0.0047301361573829775,
+              -0.002618788499044733
+            ],
+            "object_to_gripper_xy": 0.00713211856984992,
+            "object_to_gripper_z": -0.002618788499044733,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2916504699322883,
+              0.09797495307628878,
+              1.0018684296944738
+            ],
+            "finger_b": [
+              0.28011612326299573,
+              0.12271812325827941,
+              1.0018684296944738
+            ],
+            "finger_midpoint": [
+              0.285883296597642,
+              0.1103465381672841,
+              1.0018684296944738
+            ],
+            "object_minus_finger_midpoint": [
+              0.005767173334646325,
+              0.012371585090995313,
+              0.0
+            ],
+            "finger_gap": 0.027299553544744486,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.052009999907301,
+            "finger_top_clearance": 0.05014157021282717,
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+            "object_projection_between_fingers": 0.8214849191361444,
+            "object_to_finger_line_xy": 0.010454247982796235,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048427146784890004,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2410956613986015,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3104314914948169,
+              0.0017429591125325133,
+              0.770146330191967
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+            "gripper_position": [
+              0.3141538873755675,
+              -0.0163718759346822,
+              1.0436381932399184
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+              -0.003722395880750573,
+              0.018114835047214714,
+              -0.27349186304795137
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+            "held_position": [
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+              -0.011993344720687743,
+              1.040870698132668
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+            "held_minus_target": [
+              0.00927816534515985,
+              -0.013736303833220257,
+              0.2707243679407011
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+            "held_minus_gripper": [
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+              0.004378531213994457,
+              -0.002767495107250273
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+            "max_held_gripper_dist": 0.007728701349398543,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.770146330191967,
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+            "gripper_z": 1.0436381932399184,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.2749264497788,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.6606468917133075,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.858265547642977,
+            "max_source_tilt_deg": 89.6945343000184,
+            "source_upright_tilt_deg": 2.511126537976371,
+            "max_source_upright_tilt_deg": 89.8028187204819,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.858265547642977,
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+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.194881405044691e-08,
+            "max_target_xy_drift": 1.675294143437382e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3104,
+                0.0017,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0017,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "source_size": [
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+                0.2
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+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
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+                  0.0,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
+                  0.2,
+                  0.2
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+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.627543568611145
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0009764565084222263,
+                -0.0014726363641051738,
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.5111233603067435,
+            "pour_controller_source_return_step_error_deg": 2.858263841485436,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.8421900952753725,
+            "pour_controller_source_return_best_wrist_position": -1.627543568611145,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.627543568611145,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.018493336093869796,
+            "valid_pour_held_xy_dist": 0.016576199660074883,
+            "valid_pour_held_gripper_dist": 0.007595863288806647,
+            "valid_pour_required_height": 0.800146330191967,
+            "valid_pour_held_z": 1.040870698132668,
+            "valid_pour_source_tilt_deg": 2.858265547642977,
+            "valid_pour_source_upright_tilt_deg": 2.511126537976371,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.194881405044691e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31970965683997676,
+              -0.037001991759626665,
+              1.040870698132668
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3093863458224079,
+              -0.011993344720687743,
+              1.040870698132668
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3145480013311923,
+              -0.024497668240157203,
+              1.040870698132668
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31970965683997676,
+              -0.011993344720687743,
+              1.040870698132668
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027055557231069678,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024693538613290943,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.028197702001794084,
+              -0.9990397410197623,
+              0.03353334855012568
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004825475543090074,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03708238711570434,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31970965683997676,
+              -0.037001991759626665,
+              1.040870698132668
+            ],
+            "held_grasp_finger_b": [
+              0.3093863458224079,
+              -0.011993344720687743,
+              1.040870698132668
+            ],
+            "held_grasp_midpoint": [
+              0.3145480013311923,
+              -0.024497668240157203,
+              1.040870698132668
+            ],
+            "held_grasp_object_position": [
+              0.31970965683997676,
+              -0.011993344720687743,
+              1.040870698132668
+            ],
+            "held_grasp_finger_gap": 0.027055557231069678,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024693538613290943,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.028197702001794084,
+              -0.9990397410197623,
+              0.03353334855012568
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004825475543090074,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708238711570434,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26072363967585255,
+              0.1305201149927412,
+              0.761106308971029
+            ],
+            "target_position": [
+              0.26673525766346334,
+              0.11819400000924651,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.013713958634008547,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2099777561903198,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106308971029,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530564763492999,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08952805472901636,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18368950686573987,
+            "release_required_pad_clearance": 0.05476402736450818,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.579222252159016,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "139d44cde46040f11c2fe5f3f02f51ad2d98888ddd14ebac0cc28d18df0a1b7d",
+    "visual_seed": 8905931412047633846,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_60_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f2ff61981a58f83c914bbc2774a815a42960c8
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_60_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29690380916401454,
+              0.11866776309316757,
+              1.0035232052764593
+            ],
+            "current_z": 1.0035232052764593,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14241675686633815,
+            "gripper_z": 1.0057578503275708,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2917136515677158,
+              0.11387435464456958,
+              1.0057578503275708
+            ],
+            "object_minus_gripper": [
+              0.005190157596298761,
+              0.004793408448597991,
+              -0.0022346450511114835
+            ],
+            "object_to_gripper_xy": 0.007065019492507316,
+            "object_to_gripper_z": -0.0022346450511114835,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29690380916401454,
+              0.09396050673924095,
+              1.0035232052764593
+            ],
+            "finger_b": [
+              0.2853840473523553,
+              0.11866776309316757,
+              1.0035232052764593
+            ],
+            "finger_midpoint": [
+              0.2911439282581849,
+              0.10631413491620426,
+              1.0035232052764593
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057598809058296285,
+              0.01235362817696331,
+              0.0
+            ],
+            "finger_gap": 0.027260840572807185,
+            "fingertip_max_gap": 0.09159292118096271,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013630420286403593,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0035232052764593,
+            "object_top_z": 1.0533990138076152,
+            "finger_top_clearance": 0.04987580853115592,
+            "fingertip_min_top_clearance": 0.014962742559346742,
+            "object_projection_between_fingers": 0.8214299940416427,
+            "object_to_finger_line_xy": 0.010440679826312856,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829646059048136,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3653928669320043,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25817504591544566,
+              0.11849685497793117,
+              0.7611064575763844
+            ],
+            "target_position": [
+              0.27219325041743087,
+              0.11668454305260843,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.014134869365301733,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2044453803116771,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064575763844,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514633641127086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553482590241375,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1765955727550735,
+            "release_required_pad_clearance": 0.05276741295120688,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5841661585160094,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 283,
+            "max_placed_release_frames": 283
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c914a60a67b449f5e7791e410d621794997e9c8ac5b2dce963594ca7e848ec9",
+    "visual_seed": 3896608949671679423,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_61_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c11aea6051dc8298f6d6334d31169ca556340833
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_61_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+        "checker": {
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+          "skill": "pick",
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+              0.12007537283969032,
+              1.0028697885220732
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+            "gripper_z": 1.0051908321841772,
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+              0.11521547427177344,
+              1.0051908321841772
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+              1.0028697885220732
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+              0.1079530298729296,
+              1.0028697885220732
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
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+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.7701464419896412
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+            "max_held_gripper_dist": 0.007427777385154366,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464419896412,
+            "held_z": 1.0420941998239093,
+            "required_height": 0.8001464419896412,
+            "gripper_z": 1.0445672755660238,
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5ee2afbc76a257e7ef151933736f156b2d1d3e57778f5205c7aab9977d4977c",
+    "visual_seed": 3333282947421444644,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_62_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..55ece6336b83f8a72b76ffaf0ceded51b6813d56
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_62_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.294628106225162,
+              0.12456706132957444,
+              1.002333428642858
+            ],
+            "current_z": 1.002333428642858,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.14122703983738172,
+            "gripper_z": 1.0047744130143017,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2895391191741219,
+              0.1198699904774814,
+              1.0047744130143017
+            ],
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+              0.005088987051040106,
+              0.0046970708520930465,
+              -0.0024409843714436885
+            ],
+            "object_to_gripper_xy": 0.006925334922964807,
+            "object_to_gripper_z": -0.0024409843714436885,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.294628106225162,
+              0.09986670554609714,
+              1.002333428642858
+            ],
+            "finger_b": [
+              0.2833322475474731,
+              0.12456706132957444,
+              1.002333428642858
+            ],
+            "finger_midpoint": [
+              0.28898017688631755,
+              0.11221688343783578,
+              1.002333428642858
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056479293388444485,
+              0.012350177891738659,
+              0.0
+            ],
+            "finger_gap": 0.02716070689611521,
+            "fingertip_max_gap": 0.09162243066339906,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.002333428642858,
+            "object_top_z": 1.0521720710991638,
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+            "fingertip_min_top_clearance": 0.01495159273689171,
+            "object_projection_between_fingers": 0.8270357441161204,
+            "object_to_finger_line_xy": 0.010272623952166044,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048311215331699534,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.415631843114212,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.30426470553938784,
+              0.002573516077034252,
+              0.7701463897966117
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+              -0.014183133099116702,
+              1.0443667420392613
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+              0.016756649176150953,
+              -0.2742203522426496
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+            "held_position": [
+              0.3141667544655221,
+              -0.009775209575264326,
+              1.041798045859778
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+            "held_minus_target": [
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+              -0.012348725652298578,
+              0.2716516560631663
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+              0.004407923523852376,
+              -0.0025686961794832985
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+            "held_gripper_dist": 0.00733868742876394,
+            "max_held_gripper_dist": 0.007443672020608905,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966117,
+            "held_z": 1.041798045859778,
+            "required_height": 0.8001463897966117,
+            "gripper_z": 1.0443667420392613,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.16895606480605,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 0.8639807368429901,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.533673058664331,
+            "max_source_tilt_deg": 89.65719446815356,
+            "source_upright_tilt_deg": 1.902955180857981,
+            "max_source_upright_tilt_deg": 89.83862057123986,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.533673058664331,
+            "source_upright_return_tilt_deg": 1.902955180857981,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 6.318081638169239e-08,
+            "max_target_xy_drift": 1.357847873328855e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+                0.0026,
+                0.7701
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+              "controller_target_position": [
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+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
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+                -0.0006,
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+              "controller_last_pour_pose_position": [
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+                1.0345
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                  0.0,
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+                "tilt_axis_frame": "end_effector",
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+                "approach_height_range_m": [
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+                  0.4
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+                "pour_height_range_m": [
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+                  0.2
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+                "position_threshold_m": 0.015,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.9029579064299469,
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+              "wrist_compensated_return_position": -1.626124620437622
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0006,
+              -0.0009
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.304,
+              -0.0233,
+              1.0345
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0002689060969080367,
+                -0.0006348655091006404,
+                -0.0008525567305344545
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.9029579064299469,
+            "pour_controller_source_return_step_error_deg": 2.533675018279809,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.5280884278793705,
+            "pour_controller_source_return_best_wrist_position": -1.626124620437622,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.626124620437622,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.017383684565790265,
+            "valid_pour_held_xy_dist": 0.015828505872990475,
+            "valid_pour_held_gripper_dist": 0.00733868742876394,
+            "valid_pour_required_height": 0.8001463897966117,
+            "valid_pour_held_z": 1.041798045859778,
+            "valid_pour_source_tilt_deg": 2.533673058664331,
+            "valid_pour_source_upright_tilt_deg": 1.902955180857981,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.318081638169239e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3141667544655221,
+              -0.034610969979179396,
+              1.041798045859778
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.30381848075657314,
+              -0.009775209575264326,
+              1.041798045859778
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3089926176110476,
+              -0.022193089777221862,
+              1.041798045859778
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3141667544655221,
+              -0.009775209575264326,
+              1.041798045859778
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026905422568619886,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02465955091018094,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.015704346723045135,
+              -0.9994485123386171,
+              0.029258241200173278
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004991810602795229,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03722796173669428,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3141667544655221,
+              -0.034610969979179396,
+              1.041798045859778
+            ],
+            "held_grasp_finger_b": [
+              0.30381848075657314,
+              -0.009775209575264326,
+              1.041798045859778
+            ],
+            "held_grasp_midpoint": [
+              0.3089926176110476,
+              -0.022193089777221862,
+              1.041798045859778
+            ],
+            "held_grasp_object_position": [
+              0.3141667544655221,
+              -0.009775209575264326,
+              1.041798045859778
+            ],
+            "held_grasp_finger_gap": 0.026905422568619886,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02465955091018094,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.015704346723045135,
+              -0.9994485123386171,
+              0.029258241200173278
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004991810602795229,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03722796173669428,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25963191759423987,
+              0.12487547627203635,
+              0.7611122474869119
+            ],
+            "target_position": [
+              0.2699963766957788,
+              0.12025651376989681,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.011347106550290451,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20811873967478195,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611122474869119,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583349827494587,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08764282980677802,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17952628529225942,
+            "release_required_pad_clearance": 0.053821414903389014,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.638150665146893,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 264,
+            "max_placed_release_frames": 264
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff2c12dbd5ee0fdc9171a04f43bd7af237cebd84521dd577c8ab8f778a0b0761",
+    "visual_seed": 6709572695003658976,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_63_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..907b5d60a59fecc21201cb68f14d6a211892f35a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_63_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2973472281265842,
+              0.12016841588208844,
+              1.0029140259287157
+            ],
+            "current_z": 1.0029140259287157,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.14180727949537086,
+            "gripper_z": 1.0048521931297372,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2922460116201627,
+              0.11536919381931406,
+              1.0048521931297372
+            ],
+            "object_minus_gripper": [
+              0.00510121650642148,
+              0.004799222062774389,
+              -0.0019381672010214679
+            ],
+            "object_to_gripper_xy": 0.007003923347182451,
+            "object_to_gripper_z": -0.0019381672010214679,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2973472281265842,
+              0.0956410070183525,
+              1.0029140259287157
+            ],
+            "finger_b": [
+              0.28566021992595003,
+              0.12016841588208844,
+              1.0029140259287157
+            ],
+            "finger_midpoint": [
+              0.2915037240262671,
+              0.10790471145022047,
+              1.0029140259287157
+            ],
+            "object_minus_finger_midpoint": [
+              0.005843504100317087,
+              0.012263704431867972,
+              0.0
+            ],
+            "finger_gap": 0.02716946716905878,
+            "fingertip_max_gap": 0.091361556870077,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01358473358452939,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0029140259287157,
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+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03710455486760171,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2749932244911103,
+              0.12063689369635051,
+              0.7611064743596142
+            ],
+            "target_position": [
+              0.27268694693431755,
+              0.11599825176912176,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005180339284063388,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21357126890547856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064743596142,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521340636528949,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08962978460426178,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18482666081222954,
+            "release_required_pad_clearance": 0.054814892302130894,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.685526510634976,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3cef3099aaec4009a77b1a222bec78ba61a4433ef2a2b30e275f397645faf44",
+    "visual_seed": 6379399344372240200,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_64_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c5ff7a6b4755e508919e77d6d8c5a2d8ada864a
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_64_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2990038723319752,
+              0.11846256955016748,
+              1.0027435377025082
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+            "lift_margin": 0.14163685087380795,
+            "gripper_z": 1.0047694040851785,
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+              0.11377963897105893,
+              1.0047694040851785
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+              0.09379819678639138,
+              1.0027435377025082
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+              0.11846256955016748,
+              1.0027435377025082
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+              0.29336632703767795,
+              0.10613038316827944,
+              1.0027435377025082
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+              0.012332186381888044,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010254415156537619,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048326205666074304,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.357455944961502,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.3088865092999164,
+              0.00200308286272742,
+              0.7701464494012568
+            ],
+            "gripper_position": [
+              0.31464154737376804,
+              -0.015390208440072647,
+              1.046490834358624
+            ],
+            "target_minus_gripper": [
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+              0.017393291302800068,
+              -0.27634438495736713
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+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1938c2385fb80b3f2880632a90a3bd80690f63b8644d8ef1098d3031d05f2163",
+    "visual_seed": 1721533377473024131,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_65_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1769be41320fb96295dd814b01e92cdeff5d5db9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_65_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2967471544140812,
+              0.11849991094152681,
+              1.0009851131299459
+            ],
+            "current_z": 1.0009851131299459,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1398786647198248,
+            "gripper_z": 1.0031982006184983,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29165203360450775,
+              0.11365558658095169,
+              1.0031982006184983
+            ],
+            "object_minus_gripper": [
+              0.005095120809573472,
+              0.004844324360575122,
+              -0.002213087488552423
+            ],
+            "object_to_gripper_xy": 0.0070304860838074495,
+            "object_to_gripper_z": -0.002213087488552423,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2967471544140812,
+              0.0940035167648523,
+              1.0009851131299459
+            ],
+            "finger_b": [
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+              0.11849991094152681,
+              1.0009851131299459
+            ],
+            "finger_midpoint": [
+              0.2908630291736152,
+              0.10625171385318956,
+              1.0009851131299459
+            ],
+            "object_minus_finger_midpoint": [
+              0.005884125240466054,
+              0.012248197088337257,
+              0.0
+            ],
+            "finger_gap": 0.02717655325903145,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.050824031018846,
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+            "fingertip_min_top_clearance": 0.014951675366670013,
+            "object_projection_between_fingers": 0.8124854135233981,
+            "object_to_finger_line_xy": 0.010607662414105119,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801535308915901,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0626796897122555,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.005050957085208307,
+              0.7701464054680253
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+              1.0429961201119584
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+              0.2705457573155311
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+            "missing_held_position_samples": 0,
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+            "target_z": 0.7701464054680253,
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+            "required_height": 0.8001464054680253,
+            "gripper_z": 1.0429961201119584,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.98562012710457,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.6102397670072324,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 1.9770981850459215,
+            "max_source_tilt_deg": 89.76587561496676,
+            "source_upright_tilt_deg": 1.7623076843625871,
+            "max_source_upright_tilt_deg": 89.99637017634909,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 1.9770981850459215,
+            "source_upright_return_tilt_deg": 1.7623076843625871,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 2.904093904602192e-08,
+            "max_target_xy_drift": 1.2443495250076752e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              1.0
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+            "target_start_tilt_deg": 1.5348967781496408,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 2.9040856753237453e-05,
+            "max_target_tilt_deg": 0.00017566794756448208,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0051,
+                0.7701
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+                "approach_height_range_m": [
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+                "position_threshold_m": 0.015,
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6242672204971313
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3039,
+              0.0051,
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.001,
+              -0.0009
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3019,
+              -0.0212,
+              1.0345
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
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+              0.3,
+              0.4
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+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                -0.0019097193971292694,
+                -0.0010115847708410688,
+                -0.0008779978177033802
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.7623064688399488,
+            "pour_controller_source_return_step_error_deg": 1.9770991725870806,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 1.9671249937034025,
+            "pour_controller_source_return_best_wrist_position": -1.6242672204971313,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6242672204971313,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01545434276242823,
+            "valid_pour_held_xy_dist": 0.012673603373793805,
+            "valid_pour_held_gripper_dist": 0.00736244319295065,
+            "valid_pour_required_height": 0.8001464054680253,
+            "valid_pour_held_z": 1.0406921627835564,
+            "valid_pour_source_tilt_deg": 1.9770981850459215,
+            "valid_pour_source_upright_tilt_deg": 1.7623076843625871,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 2.904093904602192e-08,
+            "valid_pour_target_tilt_deg": 2.9040856753237453e-05,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31075746956995265,
+              -0.02970560731548374,
+              1.0406921627835564
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.2992658979921312,
+              -0.005579559954499984,
+              1.0406921627835564
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.30501168378104193,
+              -0.01764258363499186,
+              1.0406921627835564
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31075746956995265,
+              -0.005579559954499984,
+              1.0406921627835564
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02672306828552112,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024230535664620956,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.0100856134578806,
+              -0.9995270155467436,
+              0.029052118569873435
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005877563734117916,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03772088178674206,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31075746956995265,
+              -0.02970560731548374,
+              1.0406921627835564
+            ],
+            "held_grasp_finger_b": [
+              0.2992658979921312,
+              -0.005579559954499984,
+              1.0406921627835564
+            ],
+            "held_grasp_midpoint": [
+              0.30501168378104193,
+              -0.01764258363499186,
+              1.0406921627835564
+            ],
+            "held_grasp_object_position": [
+              0.31075746956995265,
+              -0.005579559954499984,
+              1.0406921627835564
+            ],
+            "held_grasp_finger_gap": 0.02672306828552112,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024230535664620956,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0100856134578806,
+              -0.9995270155467436,
+              0.029052118569873435
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005877563734117916,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03772088178674206,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26594198814635905,
+              0.12369522860870892,
+              0.7611066972264248
+            ],
+            "target_position": [
+              0.2721842748755761,
+              0.11695651634806008,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00918566200889073,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20851078768774725,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066972264248,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545438861129658,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08864037403549076,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18042285131328456,
+            "release_required_pad_clearance": 0.05432018701774538,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6613320794170376,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b06aee9c58051b7f88c2c60a8d4f52123cf9afaf07c2c6b040a82333bfdff6cc",
+    "visual_seed": 3718842659585133735,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_66_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53599899dcad6cf6ad79d83121e36c2c52d18ebd
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_66_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29865154303443725,
+              0.11684355660720515,
+              1.0026590597002754
+            ],
+            "current_z": 1.0026590597002754,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.14155243247621985,
+            "gripper_z": 1.0048925732717287,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29354842594580516,
+              0.11196125373653339,
+              1.0048925732717287
+            ],
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+              -0.03001379804674115,
+              1.0425382939543488
+            ],
+            "held_grasp_finger_b": [
+              0.30979296729626704,
+              -0.004866667134863155,
+              1.0425382939543488
+            ],
+            "held_grasp_midpoint": [
+              0.314826127117526,
+              -0.017440232590802154,
+              1.0425382939543488
+            ],
+            "held_grasp_object_position": [
+              0.31985928693878496,
+              -0.004866667134863155,
+              1.0425382939543488
+            ],
+            "held_grasp_finger_gap": 0.027087063042058875,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024633579350507778,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04733122197511528,
+              -0.9985246685982689,
+              0.02661280945446609
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004445248443729964,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03692700918536869,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2615299490171953,
+              0.12116197096132686,
+              0.7611063320894411
+            ],
+            "target_position": [
+              0.2740049689246455,
+              0.11460843413199609,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.014091663019838135,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20741289515487754,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063320894411,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753420003672711,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08679931657805921,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18027355806520318,
+            "release_required_pad_clearance": 0.05339965828902961,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8143950437901035,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 275,
+            "max_placed_release_frames": 275
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aba338d7e29ece986eea8fc7c20d4f5ce3159375a5c72f16ed0f6c0f35d97036",
+    "visual_seed": 3164440642642836223,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_67_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a4f5c67d879c802766d842604911b534700d025
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_67_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2926460509243124,
+              0.12481183360142314,
+              1.0030933369374613
+            ],
+            "current_z": 1.0030933369374613,
+            "required_z": 0.8611066868287004,
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+            "lift_margin": 0.14198665010876088,
+            "gripper_z": 1.0057056436550362,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28744518822640164,
+              0.1200682431581717,
+              1.0057056436550362
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+              0.004743590443251441,
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+            "object_to_gripper_z": -0.0026123067175749526,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.2926460509243124,
+              0.10002664827543042,
+              1.0030933369374613
+            ],
+            "finger_b": [
+              0.281287256241031,
+              0.12481183360142314,
+              1.0030933369374613
+            ],
+            "finger_midpoint": [
+              0.2869666535826717,
+              0.11241924093842678,
+              1.0030933369374613
+            ],
+            "object_minus_finger_midpoint": [
+              0.005679397341640691,
+              0.01239259266299636,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0530617996336307,
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+            "fingertip_min_top_clearance": 0.0149905388088508,
+            "object_projection_between_fingers": 0.8264261790566196,
+            "object_to_finger_line_xy": 0.010326051400473057,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048325628383162414,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1955625156303717,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611073309546271,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516618918026828,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08884848436485963,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1787312000062745,
+            "release_required_pad_clearance": 0.05442424218242982,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8726750645741594,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 270,
+            "max_placed_release_frames": 270
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af5fd1bf1d6ddcf2d1cf11e29eb5ae82664b47e10c70b63ceee351f72dd53446",
+    "visual_seed": 6499597910183817769,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_68_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bf9d55ac0b1d5ac7a66405c95b653f22ccd43e9
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_68_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2985220115640696,
+              0.1179187174595247,
+              1.0013911102330795
+            ],
+            "current_z": 1.0013911102330795,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1402843637997343,
+            "gripper_z": 1.0033783476412355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29361315454702525,
+              0.11307376839894892,
+              1.0033783476412355
+            ],
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+              0.004844949060575782,
+              -0.001987237408155984
+            ],
+            "object_to_gripper_xy": 0.006897130462254556,
+            "object_to_gripper_z": -0.001987237408155984,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2985220115640696,
+              0.09374581911314603,
+              1.0013911102330795
+            ],
+            "finger_b": [
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+              0.1179187174595247,
+              1.0013911102330795
+            ],
+            "finger_midpoint": [
+              0.2925101848391787,
+              0.10583226828633537,
+              1.0013911102330795
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012086449173189337,
+              0.0
+            ],
+            "finger_gap": 0.026998097280082678,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0013911102330795,
+            "object_top_z": 1.0512374355197598,
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+            "fingertip_min_top_clearance": 0.014953897586004078,
+            "object_projection_between_fingers": 0.8016617006818215,
+            "object_to_finger_line_xy": 0.010765445785991755,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848742798904361,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7897203848832817,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.0032444521228001746,
+              0.7701463807343157
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+              1.0457705447802856
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+              0.01635755372054947,
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+              -0.011990211350093875,
+              0.27349550660199495
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+              0.0043673423704555965,
+              -0.002128657443974946
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+            "max_held_gripper_dist": 0.007246460347042608,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
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+            "target_z": 0.7701463807343157,
+            "held_z": 1.0436418873363107,
+            "required_height": 0.8001463807343158,
+            "gripper_z": 1.0457705447802856,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.20424082205834,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_tilt_deg": 1.2359796080091514,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 4.4505528162364945,
+            "max_source_tilt_deg": 89.99801343886968,
+            "source_upright_tilt_deg": 3.265029484207682,
+            "max_source_upright_tilt_deg": 89.72479725511685,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.4505528162364945,
+            "source_upright_return_tilt_deg": 3.265029484207682,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 4.3036957498829164e-08,
+            "max_target_xy_drift": 1.2058442812497532e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 3.6572675305302824,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 1.9821527883571205e-05,
+            "max_target_tilt_deg": 0.0002726761094053897,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3061,
+                0.0032,
+                0.7701
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+              "controller_target_position": [
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+              ],
+              "controller_target_minus_raw_target": [
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+                0.0,
+                -0.0
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+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0009,
+                -0.0002,
+                0.0007
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0904
+              ],
+              "height_range_1": [
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+                0.4
+              ],
+              "height_range_2": [
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+                0.2
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+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis_world": null,
+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
+                  0.0008821569898667283,
+                  -0.00020971935105218008,
+                  0.0006768329102340704
+                ],
+                "use_preinterpolated_cartesian_targets": false
+              },
+              "source_pose_feedback": true,
+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 3.2650293341622705,
+              "source_return_step_error_deg": 4.450555873401377,
+              "source_return_stable_frames": 5,
+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 4.446749050620358,
+              "source_return_best_wrist_position": -1.6259520053863525,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6259520053863525
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3061,
+              0.0032,
+              0.7701
+            ],
+            "pour_controller_controller_target_position": [
+              0.3061,
+              0.0032,
+              0.7701
+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0009,
+              -0.0002,
+              0.0007
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.307,
+              -0.0222,
+              1.036
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0008821569898667283,
+                -0.00020971935105218008,
+                0.0006768329102340704
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.2650293341622705,
+            "pour_controller_source_return_step_error_deg": 4.450555873401377,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.446749050620358,
+            "pour_controller_source_return_best_wrist_position": -1.6259520053863525,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6259520053863525,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.017450378946824885,
+            "valid_pour_held_xy_dist": 0.01651651762865012,
+            "valid_pour_held_gripper_dist": 0.0071757798718795176,
+            "valid_pour_required_height": 0.8001463807343158,
+            "valid_pour_held_z": 1.0436418873363107,
+            "valid_pour_source_tilt_deg": 4.4505528162364945,
+            "valid_pour_source_upright_tilt_deg": 3.265029484207682,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 4.3036957498829164e-08,
+            "valid_pour_target_tilt_deg": 1.9821527883571205e-05,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3174317543088865,
+              -0.03372964856158027,
+              1.0436418873363107
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3073527491934887,
+              -0.0087457592272937,
+              1.0436418873363107
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31239225175118757,
+              -0.021237703894436986,
+              1.0436418873363107
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3174317543088865,
+              -0.0087457592272937,
+              1.0436418873363107
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026940324244227144,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024438666823393834,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05007120837280564,
+              -0.9983767721259706,
+              0.027142125403419974
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004420979139693126,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03699624869307449,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3174317543088865,
+              -0.03372964856158027,
+              1.0436418873363107
+            ],
+            "held_grasp_finger_b": [
+              0.3073527491934887,
+              -0.0087457592272937,
+              1.0436418873363107
+            ],
+            "held_grasp_midpoint": [
+              0.31239225175118757,
+              -0.021237703894436986,
+              1.0436418873363107
+            ],
+            "held_grasp_object_position": [
+              0.3174317543088865,
+              -0.0087457592272937,
+              1.0436418873363107
+            ],
+            "held_grasp_finger_gap": 0.026940324244227144,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024438666823393834,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05007120837280564,
+              -0.9983767721259706,
+              0.027142125403419974
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004420979139693126,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699624869307449,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25634768819174775,
+              0.11997885487677486,
+              0.7611113184367942
+            ],
+            "target_position": [
+              0.27407556122512705,
+              0.11648464992648767,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.018068949900927517,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20336621409794095,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611113184367942,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582754924989732,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08724928885576806,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17507649485073304,
+            "release_required_pad_clearance": 0.05362464442788403,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2451169718687907,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 250,
+            "max_placed_release_frames": 250
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c0fce2842832e19706971752fd7557935cdecfc5953d339209aff7113b759ac9",
+    "visual_seed": 3867878669761120223,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_69_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f2e19aa49c906dac71a1805ee94c6682e5acb6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_69_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
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+                },
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+            "valid_pour_held_grasp_finger_gap": 0.02688763124153033,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02439697696665769,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.023356892513931693,
+              -0.9993184972305854,
+              0.028583153515617576
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005076347504417302,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037271680896911914,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31739994728384713,
+              -0.029904289118563417,
+              1.0427764434482092
+            ],
+            "held_grasp_finger_b": [
+              0.3066930140004433,
+              -0.0052404229689660044,
+              1.0427764434482092
+            ],
+            "held_grasp_midpoint": [
+              0.31204648064214524,
+              -0.01757235604376471,
+              1.0427764434482092
+            ],
+            "held_grasp_object_position": [
+              0.31739994728384713,
+              -0.0052404229689660044,
+              1.0427764434482092
+            ],
+            "held_grasp_finger_gap": 0.02688763124153033,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02439697696665769,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.023356892513931693,
+              -0.9993184972305854,
+              0.028583153515617576
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005076347504417302,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037271680896911914,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2569277865517742,
+              0.12162494680041536,
+              0.7611074477877617
+            ],
+            "target_position": [
+              0.27555584321913107,
+              0.11930076165896895,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.018772488694203015,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.200210923639096,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611074477877617,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544072905618239,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09034484505166211,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1725728041379708,
+            "release_required_pad_clearance": 0.05517242252583106,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.43946732223407,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 272,
+            "max_placed_release_frames": 272
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc746bf8af89cfeaf024d2ce8a14f726ec9ebc17e9d64e81ae7484bb90cfe4bc",
+    "visual_seed": 8240389774726765000,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_6_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0013640233b160eca31ffeb480310ba7f7e3a8ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_6_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.295358849686169,
+              0.12788511230757038,
+              1.0028994657167885
+            ],
+            "current_z": 1.0028994657167885,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.1417928384927326,
+            "gripper_z": 1.0052462062475371,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2901198404011741,
+              0.1230509617648507,
+              1.0052462062475371
+            ],
+            "object_minus_gripper": [
+              0.005239009284994878,
+              0.004834150542719684,
+              -0.002346740530748681
+            ],
+            "object_to_gripper_xy": 0.0071285503265348105,
+            "object_to_gripper_z": -0.002346740530748681,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.295358849686169,
+              0.10317223136756651,
+              1.0028994657167885
+            ],
+            "finger_b": [
+              0.28373995766698323,
+              0.12788511230757038,
+              1.0028994657167885
+            ],
+            "finger_midpoint": [
+              0.2895494036765761,
+              0.11552867183756844,
+              1.0028994657167885
+            ],
+            "object_minus_finger_midpoint": [
+              0.005809446009592878,
+              0.012356440470001936,
+              0.0
+            ],
+            "finger_gap": 0.02730796836288458,
+            "fingertip_max_gap": 0.09168706320195999,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01365398418144229,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0028994657167885,
+            "object_top_z": 1.0527940356855978,
+            "finger_top_clearance": 0.049894569968809366,
+            "fingertip_min_top_clearance": 0.014968370990642792,
+            "object_projection_between_fingers": 0.818969959282837,
+            "object_to_finger_line_xy": 0.010514743949797394,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834353160098,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3946775749477651,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2659983625466042,
+              0.12301373646555745,
+              0.7611065654174046
+            ],
+            "target_position": [
+              0.2705898522543632,
+              0.12328769296897162,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004599655411247667,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2107985826300548,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065654174046,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517625430031125,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539827004427068,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.181450010424793,
+            "release_required_pad_clearance": 0.05269913502213534,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.45283874391780343,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96ffcecfd4590375dbc2caac9e210b454de2e49147279721563764340a8ba015",
+    "visual_seed": 1694841868969855347,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_70_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6efcbad8a768adde0aab81b2d68b0ffa093ff756
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_70_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2988318499816219,
+              0.12049149378273151,
+              1.0028038447669734
+            ],
+            "current_z": 1.0028038447669734,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1416973963568523,
+            "gripper_z": 1.0049912094729958,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2937604925256912,
+              0.1156160429525373,
+              1.0049912094729958
+            ],
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+              0.005071357455930681,
+              0.0048754508301942084,
+              -0.002187364706022432
+            ],
+            "object_to_gripper_xy": 0.007034819631196319,
+            "object_to_gripper_z": -0.002187364706022432,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2988318499816219,
+              0.09607450153944569,
+              1.0028038447669734
+            ],
+            "finger_b": [
+              0.2869224265736704,
+              0.12049149378273151,
+              1.0028038447669734
+            ],
+            "finger_midpoint": [
+              0.29287713827764617,
+              0.10828299766108859,
+              1.0028038447669734
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059547117039757125,
+              0.012208496121642917,
+              0.0
+            ],
+            "finger_gap": 0.027166594856892583,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014962675449922573,
+            "object_projection_between_fingers": 0.8078187298549119,
+            "object_to_finger_line_xy": 0.010704039299212324,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841975623738441,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5956830448066788,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.002267041333623306,
+              0.7701463301919669
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+              -0.013711016940289172,
+              1.0468280615224013
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+              0.01597805827391248,
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+              0.3222588737132708,
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+              1.0444920189061877
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+            "held_minus_target": [
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+              -0.011584814030187632,
+              0.2743456887142208
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+            "held_minus_gripper": [
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+              0.004393244243724847,
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+            "xy_dist": 0.01702639047305496,
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+            "held_gripper_dist": 0.007375433085015779,
+            "max_held_gripper_dist": 0.007448435025755302,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463301919669,
+            "held_z": 1.0444920189061877,
+            "required_height": 0.8001463301919669,
+            "gripper_z": 1.0468280615224013,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.26387520370172,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 1.0105807318138136,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 4.527531648190539,
+            "max_source_tilt_deg": 89.87127302985616,
+            "source_upright_tilt_deg": 3.5230709455020413,
+            "max_source_upright_tilt_deg": 89.8639031133742,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.527531648190539,
+            "source_upright_return_tilt_deg": 3.5230709455020413,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.615905582904816e-08,
+            "max_target_xy_drift": 1.8609811220261905e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3109,
+                0.0023,
+                0.7701
+              ],
+              "controller_target_position": [
+                0.3109,
+                0.0023,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                0.0,
+                -0.0
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+    "task_island_state_digest": "76f88dd91ddfba2f7ac5ab21197416871b083022ab4882548a1c5f8930dc9828",
+    "visual_seed": 2104835679842264921,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_71_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b29e9f033295c126c5b5e54d24ee4709e21542ad
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_71_success.json
@@ -0,0 +1,1036 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+    {
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+      "reason": "executed",
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+              0.10788991883144786,
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+              0.0
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+              1.0
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+            "stable_success_frames": 171,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
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+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
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+            "valid_pour_grasp_window_ok": true,
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+            "last_valid_pour_pose_failed_keys": [
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.168159412180579e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3237159640334541,
+              -0.026609605549526065,
+              1.0445163323356117
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31362658896490436,
+              -0.0015219607984567618,
+              1.0445163323356117
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31867127649917926,
+              -0.014065783173991413,
+              1.0445163323356117
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3237159640334541,
+              -0.0015219607984567618,
+              1.0445163323356117
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02704044024104874,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024526084326201417,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05151927612967214,
+              -0.9983353110604908,
+              0.02593011524902822
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004404017184871242,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03693741060686191,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3237159640334541,
+              -0.026609605549526065,
+              1.0445163323356117
+            ],
+            "held_grasp_finger_b": [
+              0.31362658896490436,
+              -0.0015219607984567618,
+              1.0445163323356117
+            ],
+            "held_grasp_midpoint": [
+              0.31867127649917926,
+              -0.014065783173991413,
+              1.0445163323356117
+            ],
+            "held_grasp_object_position": [
+              0.3237159640334541,
+              -0.0015219607984567618,
+              1.0445163323356117
+            ],
+            "held_grasp_finger_gap": 0.02704044024104874,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024526084326201417,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05151927612967214,
+              -0.9983353110604908,
+              0.02593011524902822
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004404017184871242,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03693741060686191,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26286719532731934,
+              0.12136964309280732,
+              0.7611084698438808
+            ],
+            "target_position": [
+              0.27404693652006823,
+              0.11548205909694315,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.012635278328758824,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20776961596169874,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611084698438808,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532349812048945,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08750981675232518,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18020962024423023,
+            "release_required_pad_clearance": 0.05375490837616259,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5098291197765934,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 275,
+            "max_placed_release_frames": 275
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9dbf7b2eb01450d98aa0d06d94bf4864ce3c176a91e197f0ce3cfd3c762c159c",
+    "visual_seed": 1131624018822935237,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_72_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2b16b7d93fede6ca606367980b031b6f1e5608d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_72_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29567202649648755,
+              0.12094040797441308,
+              1.0016327514509142
+            ],
+            "current_z": 1.0016327514509142,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14052606462221395,
+            "gripper_z": 1.0038629429516455,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2905920283399269,
+              0.1162590101686912,
+              1.0038629429516455
+            ],
+            "object_minus_gripper": [
+              0.005079998156560628,
+              0.004681397805721882,
+              -0.0022301915007312267
+            ],
+            "object_to_gripper_xy": 0.006908101525461031,
+            "object_to_gripper_z": -0.0022301915007312267,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29567202649648755,
+              0.09621649071063922,
+              1.0016327514509142
+            ],
+            "finger_b": [
+              0.284438189291249,
+              0.12094040797441308,
+              1.0016327514509142
+            ],
+            "finger_midpoint": [
+              0.29005510789386824,
+              0.10857844934252614,
+              1.0016327514509142
+            ],
+            "object_minus_finger_midpoint": [
+              0.005616918602619314,
+              0.012361958631886938,
+              0.0
+            ],
+            "finger_gap": 0.027156420662888134,
+            "fingertip_max_gap": 0.09153322634299602,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013578210331444086,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0016327514509142,
+            "object_top_z": 1.0514584930043764,
+            "finger_top_clearance": 0.0498257415534622,
+            "fingertip_min_top_clearance": 0.014947722466038676,
+            "object_projection_between_fingers": 0.8288758920683141,
+            "object_to_finger_line_xy": 0.010227579881195024,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826661317149801,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3366128260803887,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "left_inner_finger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_festo",
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+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.261191150593708,
+              0.1291647934168117,
+              0.7611141114745605
+            ],
+            "target_position": [
+              0.27104598737809255,
+              0.11959862409395328,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.013734242008951788,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20581162723805316,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611141114745605,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565067700788018,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863463411431128,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17855822466809645,
+            "release_required_pad_clearance": 0.053173170571556405,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3521138688013574,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 266,
+            "max_placed_release_frames": 266
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "189d40d6d7f2356505d011436b468627620c78e472ccf21ab698a4f386fa7a5e",
+    "visual_seed": 3083364409937573969,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_73_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2519569d8996ca988b479a7713a4380184b0da29
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_73_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.2944186632368415,
+              0.12061970392122054,
+              1.0033440705701127
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+            "gripper_z": 1.0054680939386886,
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+              0.11586581980948839,
+              1.0054680939386886
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+              0.12061970392122054,
+              1.0033440705701127
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+              0.10852845113203735,
+              1.0033440705701127
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837352451285755,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
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+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
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+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.006596573526884318,
+              0.7701463439816846
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+            "max_held_gripper_dist": 0.0071847717344002806,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463439816846,
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+            "required_height": 0.8001463439816846,
+            "gripper_z": 1.0458494394821716,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.18558757543504,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+            "source_tilt_deg": 3.786777607015895,
+            "max_source_tilt_deg": 89.95257083900817,
+            "source_upright_tilt_deg": 2.836492010313337,
+            "max_source_upright_tilt_deg": 89.97453016076285,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.786777607015895,
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+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d3b1e78e3dfef760b116c10edb77bf6f0aa654497a6d74d70bca2e31d03ba28",
+    "visual_seed": 3581486158992557553,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_74_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae7eb6abadb14eed899e767eda705fda129b90d5
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_74_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
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+              0.29874485156122565,
+              0.12744866844295483,
+              1.0018825825911746
+            ],
+            "current_z": 1.0018825825911746,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.14077595536711918,
+            "gripper_z": 1.0041291595669786,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2937548505602842,
+              0.12253653828652071,
+              1.0041291595669786
+            ],
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+              0.004990001000941435,
+              0.004912130156434116,
+              -0.0022465769758039933
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+            "object_to_gripper_xy": 0.00700208059530494,
+            "object_to_gripper_z": -0.0022465769758039933,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29874485156122565,
+              0.10313501922753956,
+              1.0018825825911746
+            ],
+            "finger_b": [
+              0.286747815895669,
+              0.12744866844295483,
+              1.0018825825911746
+            ],
+            "finger_midpoint": [
+              0.2927463337284473,
+              0.1152918438352472,
+              1.0018825825911746
+            ],
+            "object_minus_finger_midpoint": [
+              0.005998517832778327,
+              0.01215682460770763,
+              0.0
+            ],
+            "finger_gap": 0.027112403119806654,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0517505827120368,
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+            "fingertip_min_top_clearance": 0.014960400036258668,
+            "object_projection_between_fingers": 0.8042003669428502,
+            "object_to_finger_line_xy": 0.0107586079886839,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827721828437649,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4488654331401956,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.008488622351221817,
+              0.7701464494012562
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+              -0.00899751572355173,
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+              0.27054770573545506
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
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+            "required_height": 0.8001464494012562,
+            "gripper_z": 1.0430178574515083,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 120.95288986060187,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_tilt_deg": 2.322296174751101,
+            "max_source_tilt_deg": 89.82678710337599,
+            "source_upright_tilt_deg": 1.9253405050404184,
+            "max_source_upright_tilt_deg": 89.8841402632785,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.322296174751101,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "motion_plan": {
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
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+            "pour_controller_controller_target_minus_raw_target": [
+              -0.0,
+              0.0,
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0008,
+              0.0004
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0175,
+              1.0358
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
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+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
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+                0.2
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+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.9253494553463353,
+            "pour_controller_source_return_step_error_deg": 2.3223056383291283,
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+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.308308708427933,
+            "pour_controller_source_return_best_wrist_position": -1.6236467361450195,
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+            "pour_controller_wrist_compensated_return_position": -1.6236467361450195,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.017565828417119084,
+            "valid_pour_held_xy_dist": 0.014470598792962796,
+            "valid_pour_held_gripper_dist": 0.007341520909120464,
+            "valid_pour_required_height": 0.8001464494012562,
+            "valid_pour_held_z": 1.0406941551367113,
+            "valid_pour_source_tilt_deg": 2.322296174751101,
+            "valid_pour_source_upright_tilt_deg": 1.9253405050404184,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.74743044625221e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31294418714659195,
+              -0.028382316644230934,
+              1.0406941551367113
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.30159503918125996,
+              -0.004285258586342412,
+              1.0406941551367113
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.307269613163926,
+              -0.01633378761528667,
+              1.0406941551367113
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31294418714659195,
+              -0.004285258586342412,
+              1.0406941551367113
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026635903712550268,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024117380643147703,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              0.00298932191566995,
+              -0.999435463389552,
+              0.03346368888505835
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005724761202973397,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03769548600525816,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31294418714659195,
+              -0.028382316644230934,
+              1.0406941551367113
+            ],
+            "held_grasp_finger_b": [
+              0.30159503918125996,
+              -0.004285258586342412,
+              1.0406941551367113
+            ],
+            "held_grasp_midpoint": [
+              0.307269613163926,
+              -0.01633378761528667,
+              1.0406941551367113
+            ],
+            "held_grasp_object_position": [
+              0.31294418714659195,
+              -0.004285258586342412,
+              1.0406941551367113
+            ],
+            "held_grasp_finger_gap": 0.026635903712550268,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024117380643147703,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.00298932191566995,
+              -0.999435463389552,
+              0.03346368888505835
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005724761202973397,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03769548600525816,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2605696878055086,
+              0.1246899151732729,
+              0.7611075284402677
+            ],
+            "target_position": [
+              0.27432658531955884,
+              0.12248975077065866,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.013931724681840812,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2068900166062751,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611075284402677,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533908831987185,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08799803735453006,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17869688738524891,
+            "release_required_pad_clearance": 0.05399901867726503,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.006741351151401,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 265,
+            "max_placed_release_frames": 265
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "42d691ee6b723888b8d7aa10552e8364e910da8afb44d98a5bb612e07e49f299",
+    "visual_seed": 6964300696925062678,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_76_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..78d1b330e60af28341c4fcffda4abb3d255402d1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_76_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2942498451395976,
+              0.12374793422898758,
+              1.0006212806808286
+            ],
+            "current_z": 1.0006212806808286,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.13951465345677294,
+            "gripper_z": 1.0029010436553714,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2891615753661767,
+              0.11891398643099339,
+              1.0029010436553714
+            ],
+            "object_minus_gripper": [
+              0.005088269773420917,
+              0.00483394779799419,
+              -0.0022797629745427983
+            ],
+            "object_to_gripper_xy": 0.0070183716488115555,
+            "object_to_gripper_z": -0.0022797629745427983,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2942498451395976,
+              0.09923496214731281,
+              1.0006212806808286
+            ],
+            "finger_b": [
+              0.2825118604622121,
+              0.12374793422898758,
+              1.0006212806808286
+            ],
+            "finger_midpoint": [
+              0.28838085280090486,
+              0.1114914481881502,
+              1.0006212806808286
+            ],
+            "object_minus_finger_midpoint": [
+              0.005868992338692758,
+              0.012256486040837386,
+              0.0
+            ],
+            "finger_gap": 0.027178412105262957,
+            "fingertip_max_gap": 0.09154391649303503,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013589206052631479,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0006212806808286,
+            "object_top_z": 1.0504944640303964,
+            "finger_top_clearance": 0.04987318334956781,
+            "fingertip_min_top_clearance": 0.014961955004870374,
+            "object_projection_between_fingers": 0.8134741973865566,
+            "object_to_finger_line_xy": 0.010586817565996021,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827195824651752,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3699453973702393,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25456450213958715,
+              0.12832545035848883,
+              0.7611063722001343
+            ],
+            "target_position": [
+              0.26959090430514376,
+              0.11952753164052786,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0174125281280144,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2044658458962469,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063722001343,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590797458068152,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611333247827217,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17727446112745684,
+            "release_required_pad_clearance": 0.05305666623913609,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.143280290553324,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 249,
+            "max_placed_release_frames": 249
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50401d638ef831a4811b382cf6f8ba1dfc7fb29338ffcbe4b9612cb4ec6ff3db",
+    "visual_seed": 5675559681127673463,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_77_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aaffea61d8b1434cccf5006ce6e41b4ca01ce91
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_77_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+          "skill": "pick",
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+              0.12606960464599776,
+              1.0003024859778318
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+              0.12127373312929086,
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+              0.10174202897769104,
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+              1.0003024859778318
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+              0.11390581681184439,
+              1.0003024859778318
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+              0.012163787834153367,
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+            "fingertip_z_max_dist": 0.1,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
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+          "passed": true,
+          "metrics": {
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "xy_dist": 0.014950164111768987,
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+            "max_held_gripper_dist": 0.007325593776715301,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701464768550621,
+            "held_z": 1.041890100966529,
+            "required_height": 0.8001464768550621,
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+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0d83f21950b6029a42d037cdac25d1c59b1eb0a7b7484dac208e60bcd6c168f",
+    "visual_seed": 2044227133497500614,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_78_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d41b8d98dbdf623a978b9d78d5df1de028238267
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_78_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2992799855579473,
+              0.11908213247140823,
+              1.0035475357492898
+            ],
+            "current_z": 1.0035475357492898,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1424408489205895,
+            "gripper_z": 1.0059268328113151,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2941074586617859,
+              0.11420166131631806,
+              1.0059268328113151
+            ],
+            "object_minus_gripper": [
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+              0.00488047115509016,
+              -0.0023792970620253318
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+            "object_to_gripper_xy": 0.007111542250959388,
+            "object_to_gripper_z": -0.0023792970620253318,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2992799855579473,
+              0.09452964117963218,
+              1.0035475357492898
+            ],
+            "finger_b": [
+              0.28744489954714014,
+              0.11908213247140823,
+              1.0035475357492898
+            ],
+            "finger_midpoint": [
+              0.29336244255254373,
+              0.1068058868255202,
+              1.0035475357492898
+            ],
+            "object_minus_finger_midpoint": [
+              0.005917543005403592,
+              0.012276245645888029,
+              0.0
+            ],
+            "finger_gap": 0.027256083532230788,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0533220222812427,
+            "finger_top_clearance": 0.04977448653195293,
+            "fingertip_min_top_clearance": 0.014932345959585862,
+            "object_projection_between_fingers": 0.8114546032066687,
+            "object_to_finger_line_xy": 0.010661137205356278,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822486837256619,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3588519395684289,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
+            "max_stable_success_frames": 171,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.0066849513413832365,
+              0.7701463301919669
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+              -0.009560531771763761,
+              1.0452963698789588
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+              -0.2751500396869919
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+              0.27260274117165717
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+              0.004371456248659124,
+              -0.0025472985153347505
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+            "max_held_gripper_dist": 0.0075900405578581695,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701463301919669,
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+            "required_height": 0.8001463301919669,
+            "gripper_z": 1.0452963698789588,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.27421611010512,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
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+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 4.417051182906372,
+            "max_source_tilt_deg": 89.79277752152919,
+            "source_upright_tilt_deg": 3.6705385981126923,
+            "max_source_upright_tilt_deg": 89.94463409483434,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 4.417051182906372,
+            "source_upright_return_tilt_deg": 3.6705385981126923,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.439150710234146e-08,
+            "max_target_xy_drift": 1.6960877407303517e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "controller_target_position": [
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+              "pour_pose_offset": [
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+                -0.0007
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+              "controller_last_pour_pose_position": [
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+                -0.0174,
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
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+              "height_range_2": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
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+                "position_threshold_m": 0.015,
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              0.0016,
+              0.0011,
+              -0.0007
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3109,
+              -0.0174,
+              1.0347
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0016206773210687836,
+                0.0011324683860660786,
+                -0.0006844018022463172
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 3.670540495338769,
+            "pour_controller_source_return_step_error_deg": 4.417051712618527,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 4.40800644037841,
+            "pour_controller_source_return_best_wrist_position": -1.6266933679580688,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6266933679580688,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.01757223690625662,
+            "valid_pour_held_xy_dist": 0.017048666867745026,
+            "valid_pour_held_gripper_dist": 0.0074992698742847134,
+            "valid_pour_required_height": 0.8001463301919669,
+            "valid_pour_held_z": 1.042749071363624,
+            "valid_pour_source_tilt_deg": 4.417051182906372,
+            "valid_pour_source_upright_tilt_deg": 3.6705385981126923,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 9.439150710234146e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3215260431819028,
+              -0.030509338715539024,
+              1.042749071363624
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.31171029089510216,
+              -0.005189075523104637,
+              1.042749071363624
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3166181670385025,
+              -0.01784920711932183,
+              1.042749071363624
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3215260431819028,
+              -0.005189075523104637,
+              1.042749071363624
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027156301682850333,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024701541894629912,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.05774200700853257,
+              -0.9979486761227059,
+              0.027645984366003185
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004183661772807482,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.036802697885441646,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3215260431819028,
+              -0.030509338715539024,
+              1.042749071363624
+            ],
+            "held_grasp_finger_b": [
+              0.31171029089510216,
+              -0.005189075523104637,
+              1.042749071363624
+            ],
+            "held_grasp_midpoint": [
+              0.3166181670385025,
+              -0.01784920711932183,
+              1.042749071363624
+            ],
+            "held_grasp_object_position": [
+              0.3215260431819028,
+              -0.005189075523104637,
+              1.042749071363624
+            ],
+            "held_grasp_finger_gap": 0.027156301682850333,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024701541894629912,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05774200700853257,
+              -0.9979486761227059,
+              0.027645984366003185
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004183661772807482,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036802697885441646,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.270769070471302,
+              0.1155496512705982,
+              0.7611067198710034
+            ],
+            "target_position": [
+              0.2745723395153758,
+              0.11743307993254859,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004244073390772862,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2117857237060156,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611067198710034,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756123209665879,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08713562560877476,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18129825327742538,
+            "release_required_pad_clearance": 0.05356781280438738,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.146027830424345,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "391a2d1448f2b09fa8c201d50135b239fbddc41cc783f4825feaf72d8b47e662",
+    "visual_seed": 765111149455459139,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_79_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59dd30e10045dea4f6106b8fb6c88eb5ea1c215c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_79_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29876643970963557,
+              0.11701499612548555,
+              1.0012700425054342
+            ],
+            "current_z": 1.0012700425054342,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.14016347488602343,
+            "gripper_z": 1.0034347399889607,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2936694703656032,
+              0.11230033079097114,
+              1.0034347399889607
+            ],
+            "object_minus_gripper": [
+              0.005096969344032365,
+              0.004714665334514409,
+              -0.0021646974835265453
+            ],
+            "object_to_gripper_xy": 0.006943138030492954,
+            "object_to_gripper_z": -0.0021646974835265453,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29876643970963557,
+              0.09231867268257901,
+              1.0012700425054342
+            ],
+            "finger_b": [
+              0.28743227978612296,
+              0.11701499612548555,
+              1.0012700425054342
+            ],
+            "finger_midpoint": [
+              0.29309935974787926,
+              0.10466683440403228,
+              1.0012700425054342
+            ],
+            "object_minus_finger_midpoint": [
+              0.005667079961756305,
+              0.012348161721453269,
+              0.0
+            ],
+            "finger_gap": 0.02717299344511779,
+            "fingertip_max_gap": 0.0915514657288459,
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+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04122960606819564,
+              -0.9987765935790438,
+              0.02730266840627349
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004344395592714541,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036926207472834004,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26606607428964674,
+              0.1252602969562653,
+              0.7611065292106711
+            ],
+            "target_position": [
+              0.2741631409916125,
+              0.11541112295970685,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.012750243824749624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20862155261328472,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065292106711,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567961394594602,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637395313406936,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18103200291851873,
+            "release_required_pad_clearance": 0.05318697656703468,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3971517984260806,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 269,
+            "max_placed_release_frames": 269
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f2fb29729bb68ee57e196b9b9268b759d935636fe116f248d7138bb632188e4",
+    "visual_seed": 6567007673621296862,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_7_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..faf3da0db33aea51c9b9312afffe91b84ebae20c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_7_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29756066466133596,
+              0.12577267058040628,
+              1.0022526099911664
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+            "current_z": 1.0022526099911664,
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+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.141145923162466,
+            "gripper_z": 1.004310141162142,
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+            "gripper_position": [
+              0.29248934807753557,
+              0.12098706175539095,
+              1.004310141162142
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+              0.004785608825015331,
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+            "object_to_gripper_z": -0.002057531170975624,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29756066466133596,
+              0.10112660805801005,
+              1.0022526099911664
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+            "finger_b": [
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+              0.12577267058040628,
+              1.0022526099911664
+            ],
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+              0.29182317310743233,
+              0.11344963931920816,
+              1.0022526099911664
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+              0.005737491553903629,
+              0.012323031261198117,
+              0.0
+            ],
+            "finger_gap": 0.027186460512216876,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_to_finger_line_xy": 0.010402720537723956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830511434343747,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3450108782807506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2026446440023486,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb38dce081eabe31c8aba46d4198df50882ccbfabdda77b4af6bd31b40c736c0",
+    "visual_seed": 6978922151683011054,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_80_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd1d36b0c610d0123ae3dd4069c2ff500bbea1ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_80_success.json
@@ -0,0 +1,1036 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2975411845534154,
+              0.12054621723930217,
+              1.0004498670724256
+            ],
+            "current_z": 1.0004498670724256,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.13934323984836983,
+            "gripper_z": 1.002458909161419,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29248181735434753,
+              0.11566842069213121,
+              1.002458909161419
+            ],
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+              0.004877796547170965,
+              -0.002009042088993551
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+            "object_to_gripper_xy": 0.007027808734633911,
+            "object_to_gripper_z": -0.002009042088993551,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2975411845534154,
+              0.09619377857234615,
+              1.0004498670724256
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+            "finger_b": [
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+              0.12054621723930217,
+              1.0004498670724256
+            ],
+            "finger_midpoint": [
+              0.29155215724437866,
+              0.10836999790582416,
+              1.0004498670724256
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+              0.005989027309036721,
+              0.012176219333478011,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_projection_between_fingers": 0.8051991059777278,
+            "object_to_finger_line_xy": 0.010748254248887559,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832155910943285,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4902922511259933,
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
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+            "missing_held_position_samples": 0,
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+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.9503701518787083,
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+            "max_source_tilt_deg": 89.91353681955938,
+            "source_upright_tilt_deg": 2.5466430628144936,
+            "max_source_upright_tilt_deg": 89.93365451744083,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.420591474688585,
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+            "target_xy_drift": 3.305082185999103e-08,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_tilt_deg": 1.006584283732318e-05,
+            "max_target_tilt_deg": 0.00022996484688310293,
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+            "valid_pour_pose_frames": 0,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
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+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "tilt_strategy": "wrist_velocity",
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+              "wrist_dof_index": 5,
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                "pour_height_range_m": [
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+                "position_threshold_m": 0.015,
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+              "source_pose_feedback_error": null,
+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 2.54664286643997,
+              "source_return_step_error_deg": 3.4205901720145753,
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+              "source_return_effective_target_deg": 8.0,
+              "source_return_best_error_deg": 3.4123725131106757,
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+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6253598928451538
+            },
+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
+              0.3077,
+              0.0085,
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+            "pour_controller_controller_target_position": [
+              0.3077,
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.0014,
+              -0.0006
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.0181,
+              1.0347
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
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+                -0.0013797896661929378,
+                -0.000630274560991257
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.54664286643997,
+            "pour_controller_source_return_step_error_deg": 3.4205901720145753,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.4123725131106757,
+            "pour_controller_source_return_best_wrist_position": -1.6253598928451538,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6253598928451538,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.017891521400186846,
+            "valid_pour_held_xy_dist": 0.01598710601625884,
+            "valid_pour_held_gripper_dist": 0.007306090590754594,
+            "valid_pour_required_height": 0.8001464424904456,
+            "valid_pour_held_z": 1.0421295835489315,
+            "valid_pour_source_tilt_deg": 3.420591474688585,
+            "valid_pour_source_upright_tilt_deg": 2.5466430628144936,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.305082185999103e-08,
+            "valid_pour_target_tilt_deg": 1.006584283732318e-05,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.3171381105975485,
+              -0.02930850434465512,
+              1.0421295835489315
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3065792694377005,
+              -0.004475811054383012,
+              1.0421295835489315
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31185869001762445,
+              -0.016892157699519066,
+              1.0421295835489315
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.3171381105975485,
+              -0.004475811054383012,
+              1.0421295835489315
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026984287700208536,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024442483763405107,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.034633012079551134,
+              -0.999012388501511,
+              0.0278352671049501
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.004858727261562249,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03713332371495743,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3171381105975485,
+              -0.02930850434465512,
+              1.0421295835489315
+            ],
+            "held_grasp_finger_b": [
+              0.3065792694377005,
+              -0.004475811054383012,
+              1.0421295835489315
+            ],
+            "held_grasp_midpoint": [
+              0.31185869001762445,
+              -0.016892157699519066,
+              1.0421295835489315
+            ],
+            "held_grasp_object_position": [
+              0.3171381105975485,
+              -0.004475811054383012,
+              1.0421295835489315
+            ],
+            "held_grasp_finger_gap": 0.026984287700208536,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024442483763405107,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034633012079551134,
+              -0.999012388501511,
+              0.0278352671049501
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004858727261562249,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03713332371495743,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2650864463297525,
+              0.11906984436959266,
+              0.7611132969692026
+            ],
+            "target_position": [
+              0.27298682844444644,
+              0.11572230882229713,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.00858032818711402,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2098532056199308,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611132969692026,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583407068771343,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.087785601930874,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18081172435150608,
+            "release_required_pad_clearance": 0.053892800965437,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7881805976823157,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 273,
+            "max_placed_release_frames": 273
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9490a75c6bd13d910531881a372b48f6d83a3025d9a3bffa586f80588ce25d1",
+    "visual_seed": 3279913425141091086,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_81_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e55705cf21811655f2a9241d832a99993ea69561
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_81_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+            "valid_pour_held_grasp_top_clearance": 0.03723521697740998,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3151485550266814,
+              -0.03543217859707877,
+              1.0427452720011772
+            ],
+            "held_grasp_finger_b": [
+              0.30486101299820545,
+              -0.010629088163445034,
+              1.0427452720011772
+            ],
+            "held_grasp_midpoint": [
+              0.3100047840124434,
+              -0.0230306333802619,
+              1.0427452720011772
+            ],
+            "held_grasp_object_position": [
+              0.3151485550266814,
+              -0.010629088163445034,
+              1.0427452720011772
+            ],
+            "held_grasp_finger_gap": 0.026851942500435082,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024609058354333378,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.017545873933613836,
+              -0.9994545774923426,
+              0.02797659445873823
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004937676851134183,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03723521697740998,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26303270797703115,
+              0.11442786223254522,
+              0.7611065453194286
+            ],
+            "target_position": [
+              0.26560072390438644,
+              0.11421834787123318,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.002576548480185538,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21121351462559396,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611065453194286,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515484361486137,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08936852773074792,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1820156327416724,
+            "release_required_pad_clearance": 0.054684263865373964,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.412754719331282,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 245,
+            "max_placed_release_frames": 245
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2d891eef7ec3a84f5551742352a6ea090de858d1655ee51af2720115674f37c",
+    "visual_seed": 7647683194921088969,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_82_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef4a4900fef214805b3f594f960bec68309f28c
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_82_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29683083823879597,
+              0.1204203802328486,
+              1.002762407755388
+            ],
+            "current_z": 1.002762407755388,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.14165572092668788,
+            "gripper_z": 1.0048189517960255,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29183620051971887,
+              0.11567251844660278,
+              1.0048189517960255
+            ],
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+              0.0049946377190771,
+              0.004747861786245811,
+              -0.002056544040637487
+            ],
+            "object_to_gripper_xy": 0.006891197101093608,
+            "object_to_gripper_z": -0.002056544040637487,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29683083823879597,
+              0.09591716262699237,
+              1.002762407755388
+            ],
+            "finger_b": [
+              0.2852860533361192,
+              0.1204203802328486,
+              1.002762407755388
+            ],
+            "finger_midpoint": [
+              0.2910584457874576,
+              0.10816877142992048,
+              1.002762407755388
+            ],
+            "object_minus_finger_midpoint": [
+              0.005772392451338371,
+              0.01225160880292811,
+              0.0
+            ],
+            "finger_gap": 0.02708670765318323,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0526597421583022,
+            "finger_top_clearance": 0.049897334402914106,
+            "fingertip_min_top_clearance": 0.014969200320874232,
+            "object_projection_between_fingers": 0.8183400247696279,
+            "object_to_finger_line_xy": 0.010443660422120278,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833180587252435,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3801431222553053,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
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+              0.7611064829302641
+            ],
+            "target_position": [
+              0.27225946228770503,
+              0.1187191068674494,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.001773656630017397,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21529811975694885,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064829302641,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585388520418238,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502567241962626,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1850820734459175,
+            "release_required_pad_clearance": 0.05251283620981313,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691326080799532,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ed997044f0f66efec6bd523726c0b3b135822c1d2e680226e75cab0fc762f76",
+    "visual_seed": 3314233138750388166,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_83_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fa93158f82424981b69e1c3b45cacc008ab1060
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_83_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.29413858222790007,
+              0.12511603834106516,
+              1.001567062371707
+            ],
+            "current_z": 1.001567062371707,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.14046049475229616,
+            "gripper_z": 1.0039115860701562,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28901086464319004,
+              0.12039740708405845,
+              1.0039115860701562
+            ],
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+              0.005127717584710034,
+              0.0047186312570067085,
+              -0.0023445236984491746
+            ],
+            "object_to_gripper_xy": 0.00696842654895244,
+            "object_to_gripper_z": -0.0023445236984491746,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29413858222790007,
+              0.10038873196665214,
+              1.001567062371707
+            ],
+            "finger_b": [
+              0.2828109213746605,
+              0.12511603834106516,
+              1.001567062371707
+            ],
+            "finger_midpoint": [
+              0.2884747518012803,
+              0.11275238515385866,
+              1.001567062371707
+            ],
+            "object_minus_finger_midpoint": [
+              0.005663830426619776,
+              0.012363653187206503,
+              0.0
+            ],
+            "finger_gap": 0.027198448134776045,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
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+            "object_top_z": 1.0514165509752904,
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+            "object_projection_between_fingers": 0.8265428423764668,
+            "object_to_finger_line_xy": 0.01029847508341326,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483066628647595,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3868233209146898,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
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+      },
+      "physical_semantics": {
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+        "target": "beaker_a",
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+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.30889640367094917,
+              0.006957119653605003,
+              0.7701463897966119
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+            "gripper_position": [
+              0.31485383000612344,
+              -0.009353778242666866,
+              1.0441302740530893
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+              0.016310897896271867,
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+            "held_position": [
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+              -0.004896559838445858,
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+            "held_minus_target": [
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+              -0.01185367949205086,
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+            "held_minus_gripper": [
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+              0.004457218404221008,
+              -0.002497008584021465
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+            "max_held_gripper_dist": 0.007442370445276452,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966119,
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+            "gripper_z": 1.0441302740530893,
+            "wrist_idx": 5,
+            "requires_active_wrist_index": false,
+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.31027950892279,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+              0.0,
+              1.0
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+            "source_start_tilt_deg": 0.8325849656719065,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.2926328756751135,
+            "max_source_tilt_deg": 89.87185103474697,
+            "source_upright_tilt_deg": 1.717196088663013,
+            "max_source_upright_tilt_deg": 89.95097609542532,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.2926328756751135,
+            "source_upright_return_tilt_deg": 1.717196088663013,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.27191262889489e-08,
+            "max_target_xy_drift": 1.438493968815627e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
+              "active_arm": null,
+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3089,
+                0.007,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.007,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
+                0.0,
+                -0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                0.0012,
+                0.0004,
+                -0.0015
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+              ],
+              "height_range_2": [
+                0.2,
+                0.2
+              ],
+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
+                "source_name": "beaker",
+                "wrist_dof_index": 5,
+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
+                  1.0,
+                  0.0,
+                  0.0
+                ],
+                "tilt_angle_deg": null,
+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
+                  0.3,
+                  0.4
+                ],
+                "pour_height_range_m": [
+                  0.2,
+                  0.2
+                ],
+                "position_threshold_m": 0.015,
+                "tilt_position_threshold_m": 0.04,
+                "approach_xy_threshold_m": 0.08,
+                "pour_pose_offset_m": [
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+              "source_pose_held_object": "beaker_a",
+              "source_return_upright_error_deg": 1.717195327013001,
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+              "source_return_effective_target_deg": 8.0,
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+              "source_return_best_wrist_position": -1.6281572580337524,
+              "source_return_recovering": false,
+              "wrist_compensated_return_position": -1.6281572580337524
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
+            "pour_controller_active_arm": null,
+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              0.0004,
+              -0.0015
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+            "pour_controller_controller_last_pour_pose_position": [
+              0.3101,
+              -0.0178,
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.065,
+              0.0603,
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                0.0011843997236236311,
+                0.00043169998607600363,
+                -0.0015337050302049171
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.717195327013001,
+            "pour_controller_source_return_step_error_deg": 2.292628208171313,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.2878417873962578,
+            "pour_controller_source_return_best_wrist_position": -1.6281572580337524,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6281572580337524,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.017364801142588242,
+            "valid_pour_held_xy_dist": 0.016337141365071497,
+            "valid_pour_held_gripper_dist": 0.007350729451873515,
+            "valid_pour_required_height": 0.8001463897966119,
+            "valid_pour_held_z": 1.0416332654690679,
+            "valid_pour_source_tilt_deg": 2.2926328756751135,
+            "valid_pour_source_upright_tilt_deg": 1.717196088663013,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.27191262889489e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.32013884426372363,
+              -0.02972748044438673,
+              1.0416332654690679
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.30971609516558063,
+              -0.004896559838445858,
+              1.0416332654690679
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31492746971465213,
+              -0.017312020141416293,
+              1.0416332654690679
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.32013884426372363,
+              -0.004896559838445858,
+              1.0416332654690679
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026929692105580782,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.02469602635992959,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.011872409467388698,
+              -0.9995509187468625,
+              0.027513755209745965
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0050751722526751995,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037248493745061256,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32013884426372363,
+              -0.02972748044438673,
+              1.0416332654690679
+            ],
+            "held_grasp_finger_b": [
+              0.30971609516558063,
+              -0.004896559838445858,
+              1.0416332654690679
+            ],
+            "held_grasp_midpoint": [
+              0.31492746971465213,
+              -0.017312020141416293,
+              1.0416332654690679
+            ],
+            "held_grasp_object_position": [
+              0.32013884426372363,
+              -0.004896559838445858,
+              1.0416332654690679
+            ],
+            "held_grasp_finger_gap": 0.026929692105580782,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02469602635992959,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011872409467388698,
+              -0.9995509187468625,
+              0.027513755209745965
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0050751722526751995,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037248493745061256,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26476590298828534,
+              0.12433750670493018,
+              0.7611064616918874
+            ],
+            "target_position": [
+              0.2694338595595117,
+              0.123486772621798,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.004744846365379835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2123426633332531,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064616918874,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523686056102034,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09030924423128704,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18338874348730494,
+            "release_required_pad_clearance": 0.05515462211564352,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.4022023769390195,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 281,
+            "max_placed_release_frames": 281
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77bd1fcd8cdaac9701b981dc2cfe42df3e4ce3fd411001643b7c5991b0ca9dbd",
+    "visual_seed": 1961623463791858351,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_84_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..698150a11d918a6078469823926c62c61ddc5349
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_84_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
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+              -0.9995189680810325,
+              0.028702585452933686
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0053547709097180665,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.037409940531413624,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3115733554127963,
+              -0.030007470123852454,
+              1.0433648740889
+            ],
+            "held_grasp_finger_b": [
+              0.3005984524363405,
+              -0.005503987220554046,
+              1.0433648740889
+            ],
+            "held_grasp_midpoint": [
+              0.30608590392456836,
+              -0.01775572867220325,
+              1.0433648740889
+            ],
+            "held_grasp_object_position": [
+              0.3115733554127963,
+              -0.005503987220554046,
+              1.0433648740889
+            ],
+            "held_grasp_finger_gap": 0.026849006866825748,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02436277281442922,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011747086215104001,
+              -0.9995189680810325,
+              0.028702585452933686
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0053547709097180665,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037409940531413624,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2644920894876679,
+              0.12801457867043645,
+              0.7611064054184005
+            ],
+            "target_position": [
+              0.2671158677323057,
+              0.11875943313355082,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009619871682406616,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21073365167471889,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064054184005,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579177320107193,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0876633505809216,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1825013494979199,
+            "release_required_pad_clearance": 0.053831675290460804,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6726541044240735,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9310da6c361d71178dee6e5b1fd99f90165711b57dae5531a5b9a0083271fc9c",
+    "visual_seed": 6419615282009211821,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_85_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c1a77f8f7255a92b420f8cf1f946fe69fddfd0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_85_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29882071137591926,
+              0.12338299764593048,
+              1.0022727323137328
+            ],
+            "current_z": 1.0022727323137328,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.14116616469432208,
+            "gripper_z": 1.0044051862001948,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29368449635925026,
+              0.11853242107489469,
+              1.0044051862001948
+            ],
+            "object_minus_gripper": [
+              0.005136215016668999,
+              0.004850576571035797,
+              -0.0021324538864619935
+            ],
+            "object_to_gripper_xy": 0.007064615896772981,
+            "object_to_gripper_z": -0.0021324538864619935,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29882071137591926,
+              0.09883012743924231,
+              1.0022727323137328
+            ],
+            "finger_b": [
+              0.2870631342385821,
+              0.12338299764593048,
+              1.0022727323137328
+            ],
+            "finger_midpoint": [
+              0.2929419228072507,
+              0.1111065625425864,
+              1.0022727323137328
+            ],
+            "object_minus_finger_midpoint": [
+              0.00587878856866858,
+              0.012276435103344085,
+              0.0
+            ],
+            "finger_gap": 0.027222859062319468,
+            "fingertip_max_gap": 0.0916102314228788,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013611429531159734,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0022727323137328,
+            "object_top_z": 1.0521699165146763,
+            "finger_top_clearance": 0.04989718420094347,
+            "fingertip_min_top_clearance": 0.01496915526028304,
+            "object_projection_between_fingers": 0.8134616186794833,
+            "object_to_finger_line_xy": 0.010604406566455895,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483051157114394,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3467215606521843,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
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+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2655622780572285,
+              0.12342076849422245,
+              0.7611066062836565
+            ],
+            "target_position": [
+              0.2741656191518614,
+              0.12061972721228188,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009047834561580715,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2096339872741622,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611066062836565,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549734330715435,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08834022832299186,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1810017167837256,
+            "release_required_pad_clearance": 0.05417011416149593,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3556621190642777,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 262,
+            "max_placed_release_frames": 262
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f68ab53dc7190d572d04ecb128a10df103693e5561909505d438dff4486c968c",
+    "visual_seed": 499491159936718254,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_86_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88da7b84c5496c13f4059b8eeeef308c59063cc1
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_86_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2916767310669267,
+              0.11736364276237019,
+              1.001243854542905
+            ],
+            "current_z": 1.001243854542905,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.14013710810956004,
+            "gripper_z": 1.0038129813946641,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2864528540748599,
+              0.11256299586580702,
+              1.0038129813946641
+            ],
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+              0.004800646896563163,
+              -0.0025691268517591404
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+            "object_to_gripper_xy": 0.0070947234938175535,
+            "object_to_gripper_z": -0.0025691268517591404,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2916767310669267,
+              0.09262570558204798,
+              1.001243854542905
+            ],
+            "finger_b": [
+              0.28015199632286814,
+              0.11736364276237019,
+              1.001243854542905
+            ],
+            "finger_midpoint": [
+              0.2859143636948974,
+              0.10499467417220909,
+              1.001243854542905
+            ],
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+              0.005762367372029287,
+              0.012368968590161095,
+              0.0
+            ],
+            "finger_gap": 0.027290750206956173,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0511499265998923,
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+            "object_projection_between_fingers": 0.8216673233691429,
+            "object_to_finger_line_xy": 0.01044669574696151,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048315740239093644,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3052645767429476,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.005609055838219899,
+              0.7701463897966114
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+              -0.010733058000682694,
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+              -0.27432720503702224
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+              0.2716080594968693
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+              0.004401105158470539,
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+            "held_gripper_dist": 0.007543665098192501,
+            "max_held_gripper_dist": 0.007652655791342833,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966114,
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+            "required_height": 0.8001463897966115,
+            "gripper_z": 1.0444735948336337,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.25337037275824,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "source_start_tilt_deg": 0.744538470140597,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 3.334211403741436,
+            "max_source_tilt_deg": 89.86410676310054,
+            "source_upright_tilt_deg": 2.6328290974265127,
+            "max_source_upright_tilt_deg": 89.97609067140219,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.334211403741436,
+            "source_upright_return_tilt_deg": 2.6328290974265127,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 9.532417535757135e-08,
+            "max_target_xy_drift": 1.334889373156752e-07,
+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
+            "target_tilt_deg": 0.0,
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
+                0.3032,
+                0.0056,
+                0.7701
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+              "controller_target_position": [
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+                0.0056,
+                0.7701
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+              "controller_target_minus_raw_target": [
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+                0.0,
+                0.0
+              ],
+              "lock_target_position": true,
+              "pour_target_offset": null,
+              "pour_pose_offset": [
+                -0.0003,
+                0.0009,
+                -0.0013
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+              "controller_last_pour_pose_position": [
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+                -0.0186,
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+                0.0603,
+                0.0904
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+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_87_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..886c26490d442f6c1d804299776cf9ffafafe7ab
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_87_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+              0.12563319800605294,
+              1.0038765029467238
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+              0.12070331446133127,
+              1.0057859454369613
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+              0.0049298835447216666,
+              -0.0019094424902375007
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+            "object_to_gripper_xy": 0.0071408550950742625,
+            "object_to_gripper_z": -0.0019094424902375007,
+            "fingertip_source": "active_contact_pad_positions",
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+              0.29933191329347775,
+              0.10112282526754585,
+              1.0038765029467238
+            ],
+            "finger_b": [
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+              0.12563319800605294,
+              1.0038765029467238
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+            "finger_midpoint": [
+              0.2933616134592929,
+              0.11337801163679939,
+              1.0038765029467238
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+              0.012255186369253546,
+              0.0
+            ],
+            "finger_gap": 0.02726419432554024,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014966116736564871,
+            "object_projection_between_fingers": 0.8081919019259808,
+            "object_to_finger_line_xy": 0.010734538680971436,
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+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048179470815610484,
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+            "object_upright_reference_source": "scene_initial",
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 172,
+            "max_stable_success_frames": 172,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
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+            "rotation_satisfied_by_source_tilt": true,
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+            "missing_end_effector_orientation_samples": 0,
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+            "max_target_tilt_deg": 0.00024516984005430416,
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+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
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+            "peak_end_effector_tilt_pose_failed_keys": [],
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+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+              "skill": "pour",
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+            "pour_controller_pour_pose_offset": [
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+            "pour_controller_controller_last_pour_pose_position": [
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+              0.2
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
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+              "tilt_axis_frame": "end_effector",
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+            "valid_pour_held_grasp_geometry_required": true,
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+              1.041976049165625
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.304950520755374,
+              -0.004792583177980866,
+              1.041976049165625
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3101754194602345,
+              -0.017301697013680433,
+              1.041976049165625
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31540031816509506,
+              -0.004792583177980866,
+              1.041976049165625
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027112911716047294,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024523801579012423,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04406175621035034,
+              -0.9986414039028476,
+              0.027819202911109397
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.0046818405790522485,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03699791285467417,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31540031816509506,
+              -0.02981081084938,
+              1.041976049165625
+            ],
+            "held_grasp_finger_b": [
+              0.304950520755374,
+              -0.004792583177980866,
+              1.041976049165625
+            ],
+            "held_grasp_midpoint": [
+              0.3101754194602345,
+              -0.017301697013680433,
+              1.041976049165625
+            ],
+            "held_grasp_object_position": [
+              0.31540031816509506,
+              -0.004792583177980866,
+              1.041976049165625
+            ],
+            "held_grasp_finger_gap": 0.027112911716047294,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024523801579012423,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04406175621035034,
+              -0.9986414039028476,
+              0.027819202911109397
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046818405790522485,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699791285467417,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2660979198056158,
+              0.12804628924371592,
+              0.7611063184247392
+            ],
+            "target_position": [
+              0.2747198123350878,
+              0.12273458259405544,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.010126759517328936,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20850352274617096,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611063184247392,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547735150139648,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09059075861213602,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18054742538407512,
+            "release_required_pad_clearance": 0.05529537930606801,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.702571518555699,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "231709478305f7db5ddac3ab17d19e45dbbe63feedd6cc2b62077685a4192416",
+    "visual_seed": 5022962709876545432,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_88_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6278ee444fd37af84de3c56e2725d9c8e539a47d
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_88_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29635938279392815,
+              0.12680233566889026,
+              1.0006252174301913
+            ],
+            "current_z": 1.0006252174301913,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.13951841139220145,
+            "gripper_z": 1.0026017680480779,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2914665777550768,
+              0.12202504196712387,
+              1.0026017680480779
+            ],
+            "object_minus_gripper": [
+              0.004892805038851367,
+              0.004777293701766397,
+              -0.0019765506178865966
+            ],
+            "object_to_gripper_xy": 0.006838280212242418,
+            "object_to_gripper_z": -0.0019765506178865966,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29635938279392815,
+              0.10255567637439003,
+              1.0006252174301913
+            ],
+            "finger_b": [
+              0.2845385297595605,
+              0.12680233566889026,
+              1.0006252174301913
+            ],
+            "finger_midpoint": [
+              0.29044895627674433,
+              0.11467900602164015,
+              1.0006252174301913
+            ],
+            "object_minus_finger_midpoint": [
+              0.00591042651718382,
+              0.012123329647250117,
+              0.0
+            ],
+            "finger_gap": 0.02697467429652661,
+            "fingertip_max_gap": 0.09165093577177932,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013487337148263305,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0006252174301913,
+            "object_top_z": 1.0505066598839352,
+            "finger_top_clearance": 0.04988144245374393,
+            "fingertip_min_top_clearance": 0.014964432736123178,
+            "object_projection_between_fingers": 0.807962865614085,
+            "object_to_finger_line_xy": 0.010625381161009128,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048325467885889664,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4005035919645639,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25647200846711116,
+              0.12289478383477448,
+              0.761106636879317
+            ],
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+              0.2719179170379634,
+              0.12303505622290754,
+              0.7774145980897915
+            ],
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+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2053555899828375,
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+            "gripper_away_ok": true,
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+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
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+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574100587250573,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17653812069793348,
+            "release_required_pad_clearance": 0.05287050293625287,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7823423994671147,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 260,
+            "max_placed_release_frames": 260
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8cc55e0c52cc437de127815feeaada9940458b16bd29a3aa7410e825246b239b",
+    "visual_seed": 5993248743236315160,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_89_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cd4af8ee8d1ab12edd32856998d9f94feceaca0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_89_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.11207317396637097,
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+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
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+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
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+            "source_missing": false,
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+                "b": "/World/beaker_3/mesh",
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+                "b_name": "beaker_c"
+              }
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.18610666981196,
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+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "max_source_tilt_deg": 89.61496234995383,
+            "source_upright_tilt_deg": 2.1388013033760473,
+            "max_source_upright_tilt_deg": 89.8982615656527,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.484619842058772,
+            "source_upright_return_tilt_deg": 2.1388013033760473,
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+            "target_xy_drift": 1.1638178938488147e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
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+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+                "joint1",
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+                "left_inner_finger",
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+                "panda_joint3",
+                "panda_joint4",
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+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "ridgebase_ur5e",
+                "right_inner_finger",
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+                "ur5e",
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+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "ground",
+                "groundplane",
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+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "baf3763c5215cd4dfc79ee9189431d1d9fc856d8781ea206bc516b6760991271",
+    "visual_seed": 5467750231329297158,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_8_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d12be8bb84b4538dfed2bec7b2ff52348473379
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_8_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
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+          "checker": "PickSuccessChecker",
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+          "metrics": {
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+              1.0016106391786543
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+              0.11729110299455209,
+              1.0038382383390696
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+              0.004867755726695733,
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+            "object_to_gripper_z": -0.002227599160415261,
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+              0.09757118992716937,
+              1.0016106391786543
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+              1.0016106391786543
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+            "finger_midpoint": [
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+              0.1098650243242086,
+              1.0016106391786543
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+              0.012293834397039224,
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+            "fingertip_z_max_dist": 0.1,
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+            "stable_success_frames": 169,
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+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
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+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
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+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "held": "beaker_a",
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+            "source_tilt_threshold_deg": 30.0,
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+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
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+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
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+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
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+              0.0019,
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+            "pour_controller_controller_last_pour_pose_position": [
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+            "pour_controller_resolved_tilt_axis_world": null,
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+            "pour_controller_wrist_joint_name": "wrist_3_joint",
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+            "valid_pour_source_tilt_deg": 2.642908148359742,
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+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.191719375074184e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31663099895267766,
+              -0.025805421311157702,
+              1.0424651442279078
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.30589654079815637,
+              -0.0009953259917438902,
+              1.0424651442279078
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31126376987541704,
+              -0.013400373651450796,
+              1.0424651442279078
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31663099895267766,
+              -0.0009953259917438902,
+              1.0424651442279078
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.027032747208331744,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024569504739318203,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.021027815527252653,
+              -0.9994007127322204,
+              0.027496297286757725
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005116676783101017,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03720977549457767,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31663099895267766,
+              -0.025805421311157702,
+              1.0424651442279078
+            ],
+            "held_grasp_finger_b": [
+              0.30589654079815637,
+              -0.0009953259917438902,
+              1.0424651442279078
+            ],
+            "held_grasp_midpoint": [
+              0.31126376987541704,
+              -0.013400373651450796,
+              1.0424651442279078
+            ],
+            "held_grasp_object_position": [
+              0.31663099895267766,
+              -0.0009953259917438902,
+              1.0424651442279078
+            ],
+            "held_grasp_finger_gap": 0.027032747208331744,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024569504739318203,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021027815527252653,
+              -0.9994007127322204,
+              0.027496297286757725
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005116676783101017,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03720977549457767,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2698626900740621,
+              0.11901604641726928,
+              0.7611067729578522
+            ],
+            "target_position": [
+              0.27346913603940937,
+              0.11787611884397659,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0037823124372957997,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21147725484269295,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611067729578522,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752011341214669,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0889898206008078,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1824423313513329,
+            "release_required_pad_clearance": 0.054494910300403904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.01947915047144,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f85fea9d88ddeea6cef47de5b374808d46cf2e64a6b631d81a2f6abd836970c",
+    "visual_seed": 5686935115001541773,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_90_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3084d7a7e9ff0baebed836ec3cb00f294bc9ef37
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_90_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2954423732806524,
+              0.12788088040811893,
+              0.999931544822678
+            ],
+            "current_z": 0.999931544822678,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.13882491759862248,
+            "gripper_z": 1.002272990018238,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29030789555538605,
+              0.12309027506704354,
+              1.002272990018238
+            ],
+            "object_minus_gripper": [
+              0.005134477725266373,
+              0.0047906053410753935,
+              -0.002341445195560121
+            ],
+            "object_to_gripper_xy": 0.00702230453947966,
+            "object_to_gripper_z": -0.002341445195560121,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2954423732806524,
+              0.10324923906734283,
+              0.999931544822678
+            ],
+            "finger_b": [
+              0.2838771014588377,
+              0.12788088040811893,
+              0.999931544822678
+            ],
+            "finger_midpoint": [
+              0.28965973736974504,
+              0.11556505973773087,
+              0.999931544822678
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057826359109073855,
+              0.012315820670388056,
+              0.0
+            ],
+            "finger_gap": 0.027211638455871993,
+            "fingertip_max_gap": 0.09153443958756466,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013605819227936015,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 0.999931544822678,
+            "object_top_z": 1.049751652639757,
+            "finger_top_clearance": 0.04982010781707902,
+            "fingertip_min_top_clearance": 0.014946032345123721,
+            "object_projection_between_fingers": 0.819364833017507,
+            "object_to_finger_line_xy": 0.01046874218858556,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826721979378233,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3806379185121607,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
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+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2571655276517984,
+              0.13163354440339672,
+              0.7611277446294213
+            ],
+            "target_position": [
+              0.27074733964375625,
+              0.12371258956448875,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01572282234666886,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20366372467103624,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611277446294213,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547228266507802,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08880925728795948,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17676052752683286,
+            "release_required_pad_clearance": 0.05440462864397974,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7363842541246726,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 270,
+            "max_placed_release_frames": 270
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46f7a7273ce34fd063ad6451d826aec6790e10e473dbcd893ce7fae498c9eb0b",
+    "visual_seed": 4072134769844696532,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_91_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..80a407880a992debd8177ba1d07f14f2d78dbaf0
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_91_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+          "metrics": {
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+              0.12106504577948048,
+              1.0033367312171348
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+              0.11626205201608925,
+              1.0054142771530057
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+              0.1088888280004128,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 171,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+              {
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+                "b_name": "beaker_c"
+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "max_held_gripper_dist": 0.007307878236793673,
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+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463420216489,
+            "held_z": 1.0407140481847703,
+            "required_height": 0.8001463420216489,
+            "gripper_z": 1.0428973452931436,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.00091292065623,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.9900524506946748,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.6559766491800367,
+            "max_source_tilt_deg": 89.65985279528225,
+            "source_upright_tilt_deg": 1.9046782810887477,
+            "max_source_upright_tilt_deg": 89.98689274065217,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
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+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b9cae9befe99612fc49d4d11659731b963ad772fee8d8457e5ea487a6bf93e6f",
+    "visual_seed": 5931912043500026943,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_92_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de8da649ad87d045a9f25bcbbc5542d5b9bcfe6
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_92_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
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+          "metrics": {
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+              0.12147286127296981,
+              1.0020922869074018
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+            "current_z": 1.0020922869074018,
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+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.14098583849728064,
+            "gripper_z": 1.0046128624876371,
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+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              0.11667320299614914,
+              1.0046128624876371
+            ],
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+              0.005117425152700139,
+              0.004799658276820676,
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+            ],
+            "object_to_gripper_xy": 0.007016035901258008,
+            "object_to_gripper_z": -0.002520575580235329,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              0.09688525713544542,
+              1.0020922869074018
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+            "finger_b": [
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+              0.12147286127296981,
+              1.0020922869074018
+            ],
+            "finger_midpoint": [
+              0.2905730765073725,
+              0.10917905920420762,
+              1.0020922869074018
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+              0.005814622736786235,
+              0.012293802068762197,
+              0.0
+            ],
+            "finger_gap": 0.027199074019315664,
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.051952577672727,
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+            "fingertip_min_top_clearance": 0.01495808722959755,
+            "object_projection_between_fingers": 0.8171921513145244,
+            "object_to_finger_line_xy": 0.010512684509746111,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836707128704899,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4210340635975085,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.006434866550050753,
+              0.7701464494012566
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+              0.004512942616539768,
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+            "max_held_gripper_dist": 0.007561805580989775,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012566,
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+            "required_height": 0.8001464494012567,
+            "gripper_z": 1.0460975525589618,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.24085063600961,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
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+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.8077824780098605,
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+            "source_tilt_deg": 2.409521241756387,
+            "max_source_tilt_deg": 89.94802566566291,
+            "source_upright_tilt_deg": 1.8470207566912853,
+            "max_source_upright_tilt_deg": 89.81435505391468,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.409521241756387,
+            "source_upright_return_tilt_deg": 1.8470207566912853,
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+            "target_xy_drift": 6.374118936113586e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
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+              "source_size": [
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+              "resolved_tilt_axis_world": null,
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_minus_raw_target": [
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+              -0.0,
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.0014,
+              0.0006,
+              0.0007
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3085,
+              -0.0182,
+              1.0361
+            ],
+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
+            ],
+            "pour_controller_height_range_1": [
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+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
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+                0.4
+              ],
+              "pour_height_range_m": [
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+              ],
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+                0.0006069071582626485,
+                0.0007203493514770978
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+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 1.847020926766576,
+            "pour_controller_source_return_step_error_deg": 2.409518400947615,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.3923979519894103,
+            "pour_controller_source_return_best_wrist_position": -1.6261974573135376,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6261974573135376,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.016642511143470113,
+            "valid_pour_held_xy_dist": 0.014956575167187456,
+            "valid_pour_held_gripper_dist": 0.007452851947643665,
+            "valid_pour_required_height": 0.8001464494012567,
+            "valid_pour_held_z": 1.043436414863884,
+            "valid_pour_source_tilt_deg": 2.409521241756387,
+            "valid_pour_source_upright_tilt_deg": 1.8470207566912853,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 6.374118936113586e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31931964292973936,
+              -0.029936790101953548,
+              1.043436414863884
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.30866578721794735,
+              -0.005174229229148746,
+              1.043436414863884
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31399271507384335,
+              -0.017555509665551146,
+              1.043436414863884
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31931964292973936,
+              -0.005174229229148746,
+              1.043436414863884
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02695717089212157,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024584141046159098,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.015539400018651929,
+              -0.9994804535336529,
+              0.028237387471647273
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005145856952162008,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03726262502136898,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31931964292973936,
+              -0.029936790101953548,
+              1.043436414863884
+            ],
+            "held_grasp_finger_b": [
+              0.30866578721794735,
+              -0.005174229229148746,
+              1.043436414863884
+            ],
+            "held_grasp_midpoint": [
+              0.31399271507384335,
+              -0.017555509665551146,
+              1.043436414863884
+            ],
+            "held_grasp_object_position": [
+              0.31931964292973936,
+              -0.005174229229148746,
+              1.043436414863884
+            ],
+            "held_grasp_finger_gap": 0.02695717089212157,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024584141046159098,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.015539400018651929,
+              -0.9994804535336529,
+              0.028237387471647273
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005145856952162008,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726262502136898,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.2677969137703499,
+              0.12495594453847779,
+              0.761106300800531
+            ],
+            "target_position": [
+              0.2716693254706367,
+              0.11885798891380173,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.007223616488784305,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21031623880321745,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.761106300800531,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544443947406917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08788161550990488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18203589100092632,
+            "release_required_pad_clearance": 0.05394080775495244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8918192464543453,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 271,
+            "max_placed_release_frames": 271
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6468ff20a28c5adece0b2ce32fee99bbbaa9a3fea530a8db409eb49e41aa402",
+    "visual_seed": 7311055306209623620,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_93_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b32b4546497846cfc94ed65217ae4f7ab2aae6bb
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_93_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2970654802956334,
+              0.11995249721529247,
+              1.0006462912563543
+            ],
+            "current_z": 1.0006462912563543,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.1395397832415881,
+            "gripper_z": 1.0029213259347567,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.291859180431599,
+              0.11503290307005289,
+              1.0029213259347567
+            ],
+            "object_minus_gripper": [
+              0.005206299864034425,
+              0.004919594145239584,
+              -0.002275034678402399
+            ],
+            "object_to_gripper_xy": 0.007162957826772434,
+            "object_to_gripper_z": -0.002275034678402399,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2970654802956334,
+              0.09544848946317683,
+              1.0006462912563543
+            ],
+            "finger_b": [
+              0.2850859091836088,
+              0.11995249721529247,
+              1.0006462912563543
+            ],
+            "finger_midpoint": [
+              0.29107569473962114,
+              0.10770049333923465,
+              1.0006462912563543
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059897855560122615,
+              0.012252003876057821,
+              0.0
+            ],
+            "finger_gap": 0.02727556635422622,
+            "fingertip_max_gap": 0.09137356720914033,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013637783177113097,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0006462912563543,
+            "object_top_z": 1.0504900035993778,
+            "finger_top_clearance": 0.04984371234302354,
+            "fingertip_min_top_clearance": 0.014953113702907077,
+            "object_projection_between_fingers": 0.8070987750212938,
+            "object_to_finger_line_xy": 0.010762288107377359,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818678360457017,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1959199895681685,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
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+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26866794120028786,
+              0.12099466403486975,
+              0.7611062817245123
+            ],
+            "target_position": [
+              0.2723361343148454,
+              0.11697597673176512,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.005441092570966014,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2121856279351335,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611062817245123,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585395445336192,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08913049638893016,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18273284320665775,
+            "release_required_pad_clearance": 0.05456524819446508,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.166185672636041,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc340f1d7019ee061bd2dcc5d63a9c06931d9bdfc635164abee614572b334d25",
+    "visual_seed": 3367571051801127381,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_94_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6685ed80dead3d808d8b0b113bfcf447db7b7a34
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_94_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.12331917138480164,
+              0.9996716680605547
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+              0.11864576973655819,
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+              0.0987059835408042,
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+              0.12331917138480164,
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+              0.11101257746280292,
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+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_reference_source": "scene_initial",
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
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+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
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+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
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+              {
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+                "b_name": "beaker_c"
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+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+            "held_gripper_dist": 0.007257103578050443,
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+            "held_gripper_threshold": 0.12,
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+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "00facd268becb12f1a17b4ecb9c7595fbb0a8fc8ee7df3cdb509d0fd28f3b672",
+    "visual_seed": 2543993383511520077,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_95_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f4688933099db06f0898aeb85ca93b47d75e1ec
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_95_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29168143967554744,
+              0.12017022344712652,
+              1.0030206605810987
+            ],
+            "current_z": 1.0030206605810987,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.14191397375239845,
+            "gripper_z": 1.0054871187864407,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2866159428403572,
+              0.11527177345892854,
+              1.0054871187864407
+            ],
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+              0.005065496835190253,
+              0.004898449988197981,
+              -0.0024664582053419704
+            ],
+            "object_to_gripper_xy": 0.007046564444763084,
+            "object_to_gripper_z": -0.0024664582053419704,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29168143967554744,
+              0.09585202967049909,
+              1.0030206605810987
+            ],
+            "finger_b": [
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+              0.12017022344712652,
+              1.0030206605810987
+            ],
+            "finger_midpoint": [
+              0.2856519504698023,
+              0.10801112655881281,
+              1.0030206605810987
+            ],
+            "object_minus_finger_midpoint": [
+              0.006029489205745142,
+              0.012159096888313708,
+              0.0
+            ],
+            "finger_gap": 0.02714394055560817,
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+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "object_top_z": 1.0529282100360855,
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+            "fingertip_min_top_clearance": 0.014972264836496045,
+            "object_projection_between_fingers": 0.8026326798826187,
+            "object_to_finger_line_xy": 0.010803610962749424,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836346388147282,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4355876380210866,
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+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
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+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
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+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.008908356397084968,
+              0.7701464494012564
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+              -0.008436410094529695,
+              1.0457902743200924
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+              0.017344766491614663,
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+              0.2730453117912326
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+            "held_minus_gripper": [
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+              0.004571002124957913,
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+            "max_held_gripper_dist": 0.007570854013608533,
+            "held_gripper_threshold": 0.12,
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+            "xy_threshold": 0.15,
+            "target_z": 0.7701464494012564,
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+            "required_height": 0.8001464494012565,
+            "gripper_z": 1.0457902743200924,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.2336311260569,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+              1.0
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+            "source_start_tilt_deg": 0.8955365281181354,
+            "source_start_max_tilt_deg": 20.0,
+            "source_tilt_deg": 2.839142693181734,
+            "max_source_tilt_deg": 89.99934143864509,
+            "source_upright_tilt_deg": 2.0667302658032947,
+            "max_source_upright_tilt_deg": 89.71487531734455,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 2.839142693181734,
+            "source_upright_return_tilt_deg": 2.0667302658032947,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 3.6166026888317614e-08,
+            "max_target_xy_drift": 1.6763806343078613e-07,
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+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 219,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 219,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
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+              "skill": "pour",
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+              "source_name": "beaker",
+              "target_object": "beaker_c",
+              "raw_target_position": [
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+                0.0089,
+                0.7701
+              ],
+              "controller_target_position": [
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+                0.0089,
+                0.7701
+              ],
+              "controller_target_minus_raw_target": [
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+                -0.0,
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+              ],
+              "lock_target_position": true,
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_event": 6,
+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_1": [
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+                0.4
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+              "tilt_strategy": "wrist_velocity",
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
+                "tilt_axis": [
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+                "tilt_axis_frame": "end_effector",
+                "pour_speed_rad_s": -1.5,
+                "approach_height_range_m": [
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+                "position_threshold_m": 0.015,
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+              "source_pose_held_object": "beaker_a",
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+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
+            "pour_controller_target_object": "beaker_c",
+            "pour_controller_raw_target_position": [
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+              0.7701
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+            "pour_controller_controller_target_position": [
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+              0.0089,
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+            ],
+            "pour_controller_controller_target_minus_raw_target": [
+              0.0,
+              -0.0,
+              0.0
+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
+              -0.001,
+              -0.0015,
+              0.001
+            ],
+            "pour_controller_controller_last_pour_pose_position": [
+              0.3035,
+              -0.0178,
+              1.0363
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
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+              0.065,
+              0.0603,
+              0.0904
+            ],
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+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
+              0.2,
+              0.2
+            ],
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+            "pour_controller_tilt_axis_world": null,
+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
+              "source_name": "beaker",
+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
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+                -0.0009749189299714414,
+                -0.0014848029434251162,
+                0.0009872213860039353
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.0667307617568245,
+            "pour_controller_source_return_step_error_deg": 2.839144331830523,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 2.827948524935713,
+            "pour_controller_source_return_best_wrist_position": -1.6273568868637085,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6273568868637085,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.017831867677917893,
+            "valid_pour_held_xy_dist": 0.01588020517651062,
+            "valid_pour_held_gripper_dist": 0.007462281383005023,
+            "valid_pour_required_height": 0.8001464494012565,
+            "valid_pour_held_z": 1.043191761192489,
+            "valid_pour_source_tilt_deg": 2.839142693181734,
+            "valid_pour_source_upright_tilt_deg": 2.0667302658032947,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 3.6166026888317614e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.313885311541988,
+              -0.028465230442614668,
+              1.043191761192489
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3029347586923822,
+              -0.0038654079695717818,
+              1.043191761192489
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.3084100351171851,
+              -0.016165319206093223,
+              1.043191761192489
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.313885311541988,
+              -0.0038654079695717818,
+              1.043191761192489
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.02692704724653701,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024332379178486692,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.02296152270184706,
+              -0.999349510480422,
+              0.02780871046549515
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.005202779042746937,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03730261911299772,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.313885311541988,
+              -0.028465230442614668,
+              1.043191761192489
+            ],
+            "held_grasp_finger_b": [
+              0.3029347586923822,
+              -0.0038654079695717818,
+              1.043191761192489
+            ],
+            "held_grasp_midpoint": [
+              0.3084100351171851,
+              -0.016165319206093223,
+              1.043191761192489
+            ],
+            "held_grasp_object_position": [
+              0.313885311541988,
+              -0.0038654079695717818,
+              1.043191761192489
+            ],
+            "held_grasp_finger_gap": 0.02692704724653701,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024332379178486692,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02296152270184706,
+              -0.999349510480422,
+              0.02780871046549515
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005202779042746937,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03730261911299772,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26103688364694366,
+              0.1261667921196803,
+              0.7611070233591025
+            ],
+            "target_position": [
+              0.2670032059235219,
+              0.11879626393355329,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.009482704637944084,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20985423605759881,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611070233591025,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543880660313068,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0880329299012269,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18199929038203047,
+            "release_required_pad_clearance": 0.05401646495061345,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.041426511582555,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f75b17ca3c292813114c72e23c3fd1d821b58104725cd33b106d87e185ac59e4",
+    "visual_seed": 6670420556534708617,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_96_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c80874033131df0a7550cb602afc01bcbb7dbee
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_96_success.json
@@ -0,0 +1,1017 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29494373877214336,
+              0.12340981644681834,
+              1.000734356871034
+            ],
+            "current_z": 1.000734356871034,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.13962778925162345,
+            "gripper_z": 1.0028389019659505,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2900777651738592,
+              0.1186316266556073,
+              1.0028389019659505
+            ],
+            "object_minus_gripper": [
+              0.004865973598284168,
+              0.004778189791211043,
+              -0.0021045450949164213
+            ],
+            "object_to_gripper_xy": 0.006819735826264241,
+            "object_to_gripper_z": -0.0021045450949164213,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29494373877214336,
+              0.09919596895964018,
+              1.000734356871034
+            ],
+            "finger_b": [
+              0.2831045195746602,
+              0.12340981644681834,
+              1.000734356871034
+            ],
+            "finger_midpoint": [
+              0.2890241291734018,
+              0.11130289270322927,
+              1.000734356871034
+            ],
+            "object_minus_finger_midpoint": [
+              0.005919609598741549,
+              0.01210692374358907,
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+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.26552279196992756,
+              0.12589906802987025,
+              0.7611064316043251
+            ],
+            "target_position": [
+              0.2705082152081388,
+              0.11999540789934014,
+              0.7774145980897915
+            ],
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+            "xy_dist": 0.007727072395215873,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2101856816373083,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611064316043251,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535994677303293,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08866751272734959,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18198464375401074,
+            "release_required_pad_clearance": 0.054333756363674796,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.689446598923371,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "00be3eb2640ab6bf6e953004f5b1de404412a83f37252795068c323c90c7fff3",
+    "visual_seed": 8367007595324069217,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_97_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de6d1d139aa41aa3af4d0b0fb14ad748dea1a8ca
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_97_success.json
@@ -0,0 +1,1036 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
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+      "reason": "executed",
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+          "skill": "pick",
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+              0.118428386036912,
+              1.0022224505889055
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+              0.118428386036912,
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+              0.10616541129104923,
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+            "fingertip_z_max_dist": 0.1,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
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+              },
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_c"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
+              0.30537227755582397,
+              0.007883005700132199,
+              0.7701464311403198
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+              -0.008414289052670249,
+              1.0442227244000877
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+            "target_minus_gripper": [
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+              0.01629729475280245,
+              -0.2740762932597679
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+            "max_placed_release_frames": 266
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88664368c75728b172013d403bc72f5cf254b100c02adfad2649baf79f64991f",
+    "visual_seed": 4391112312427528919,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_98_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d19bc1ea96bb173e06175c7fd130971bfab4db35
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_98_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.293047925675877,
+              0.12199459887718947,
+              1.0027466347466696
+            ],
+            "current_z": 1.0027466347466696,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.14164012673190385,
+            "gripper_z": 1.005027774252294,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2880085544620391,
+              0.11725041765426933,
+              1.005027774252294
+            ],
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+              0.0050393712138379065,
+              0.004744181222920141,
+              -0.0022811395056243633
+            ],
+            "object_to_gripper_xy": 0.006921164476211079,
+            "object_to_gripper_z": -0.0022811395056243633,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.293047925675877,
+              0.09742449358090977,
+              1.0027466347466696
+            ],
+            "finger_b": [
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+              0.12199459887718947,
+              1.0027466347466696
+            ],
+            "finger_midpoint": [
+              0.2873024266312189,
+              0.10970954622904962,
+              1.0027466347466696
+            ],
+            "object_minus_finger_midpoint": [
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+              0.012285052648139852,
+              0.0
+            ],
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+            "fingertip_z_skew_max": 0.035,
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+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
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+            "fingertip_min_top_clearance": 0.014969685018384027,
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+            "object_to_finger_line_xy": 0.010408894799760107,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832791725339418,
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+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3919108747791573,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 170,
+            "max_stable_success_frames": 170,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
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+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_c",
+            "held": "beaker_a",
+            "active_arm": null,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "target_position": [
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+              0.009244327290587205,
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+              -0.008435063402767451,
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+              -0.004108505793745344,
+              1.043106809654839
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+              -0.01335283308433255,
+              0.2729604198582277
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+              0.004326557609022107,
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+            "max_held_gripper_dist": 0.007374058639861876,
+            "held_gripper_threshold": 0.12,
+            "missing_held_position_samples": 0,
+            "xy_threshold": 0.15,
+            "target_z": 0.7701463897966113,
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+            "gripper_z": 1.0455437023654852,
+            "wrist_idx": 5,
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+            "missing_active_wrist_index": false,
+            "max_wrist_deg": 121.23462150348655,
+            "rotation_threshold_deg": 50.0,
+            "rotation_satisfied_by_source_tilt": true,
+            "source_upright_reference_source": "scene_initial",
+            "source_upright_axis_sign": 1.0,
+            "source_upright_axis_local": [
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+            "source_start_tilt_deg": 0.8375392108742662,
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+            "source_tilt_deg": 3.6819883411866283,
+            "max_source_tilt_deg": 89.82873938876035,
+            "source_upright_tilt_deg": 2.8725055202451255,
+            "max_source_upright_tilt_deg": 89.91279459464332,
+            "uses_end_effector_tilt_evidence": false,
+            "uses_reconstructed_held_tilt_axis": false,
+            "end_effector_tilt_deg": null,
+            "max_end_effector_tilt_deg": null,
+            "missing_end_effector_orientation_samples": 0,
+            "source_tilt_threshold_deg": 30.0,
+            "source_return_ok": true,
+            "source_return_max_tilt_deg": 15.0,
+            "source_return_tilt_deg": 3.6819883411866283,
+            "source_upright_return_tilt_deg": 2.8725055202451255,
+            "missing_source_orientation_samples": 0,
+            "target_xy_drift": 7.679882693323606e-08,
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+            "target_max_xy_drift": 0.1,
+            "target_upright_reference_source": "scene_initial",
+            "target_upright_axis_local": [
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+              0.0,
+              1.0
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+            "target_start_tilt_deg": 0.0,
+            "target_start_max_tilt_deg": 15.0,
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+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 20.0,
+            "missing_target_orientation_samples": 0,
+            "valid_pour_pose_frames": 0,
+            "max_valid_pour_pose_frames": 220,
+            "valid_pour_grasp_frames": 0,
+            "max_valid_pour_grasp_frames": 220,
+            "valid_pour_grasp_window_ok": true,
+            "required_valid_pour_frames": 10,
+            "last_valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "peak_end_effector_tilt_pose_failed_keys": [],
+            "peak_end_effector_tilt_pose_metrics": {},
+            "held_grasp_satisfied_by_valid_pour_pose": false,
+            "pour_controller_debug": {
+              "workflow_step_index": 1,
+              "skill": "pour",
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+              "source_name": "beaker",
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+              "pour_pose_offset": [
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+              "controller_last_pour_pose_position": [
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+              "controller_t": 0.0,
+              "source_size": [
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+              "height_range_2": [
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+              "resolved_tilt_axis_world": null,
+              "wrist_dof_index": 5,
+              "wrist_joint_name": "wrist_3_joint",
+              "motion_plan": {
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+                "tilt_strategy": "wrist_velocity",
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+              "source_pose_held_object": "beaker_a",
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+              "wrist_compensated_return_position": -1.6264053583145142
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+            "pour_controller_workflow_step_index": 1,
+            "pour_controller_skill": "pour",
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+            "pour_controller_source_name": "beaker",
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+            "pour_controller_raw_target_position": [
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+            "pour_controller_controller_target_position": [
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+            ],
+            "pour_controller_lock_target_position": true,
+            "pour_controller_pour_target_offset": null,
+            "pour_controller_pour_pose_offset": [
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+              -0.001,
+              0.0
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+            "pour_controller_controller_last_pour_pose_position": [
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+              -0.017,
+              1.0354
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+            "pour_controller_controller_event": 6,
+            "pour_controller_controller_t": 0.0,
+            "pour_controller_source_size": [
+              0.065,
+              0.0603,
+              0.0904
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+            "pour_controller_height_range_1": [
+              0.3,
+              0.4
+            ],
+            "pour_controller_height_range_2": [
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+              0.2
+            ],
+            "pour_controller_tilt_strategy": "wrist_velocity",
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+            "pour_controller_resolved_tilt_axis_world": null,
+            "pour_controller_wrist_dof_index": 5,
+            "pour_controller_wrist_joint_name": "wrist_3_joint",
+            "pour_controller_motion_plan": {
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+              "wrist_dof_index": 5,
+              "tilt_strategy": "wrist_velocity",
+              "tilt_axis": [
+                1.0,
+                0.0,
+                0.0
+              ],
+              "tilt_angle_deg": null,
+              "tilt_axis_frame": "end_effector",
+              "pour_speed_rad_s": -1.5,
+              "approach_height_range_m": [
+                0.3,
+                0.4
+              ],
+              "pour_height_range_m": [
+                0.2,
+                0.2
+              ],
+              "position_threshold_m": 0.015,
+              "tilt_position_threshold_m": 0.04,
+              "approach_xy_threshold_m": 0.08,
+              "pour_pose_offset_m": [
+                -0.0015532922238411895,
+                -0.001037127986737242,
+                3.6682618637561004e-05
+              ],
+              "use_preinterpolated_cartesian_targets": false
+            },
+            "pour_controller_source_pose_feedback": true,
+            "pour_controller_source_pose_feedback_error": null,
+            "pour_controller_source_pose_held_object": "beaker_a",
+            "pour_controller_source_return_upright_error_deg": 2.872506824043982,
+            "pour_controller_source_return_step_error_deg": 3.681991654834946,
+            "pour_controller_source_return_stable_frames": 5,
+            "pour_controller_source_return_effective_target_deg": 8.0,
+            "pour_controller_source_return_best_error_deg": 3.67897406662194,
+            "pour_controller_source_return_best_wrist_position": -1.6264053583145142,
+            "pour_controller_source_return_recovering": false,
+            "pour_controller_wrist_compensated_return_position": -1.6264053583145142,
+            "valid_pour_pose": false,
+            "valid_pour_pose_failed_keys": [
+              "source_not_tilted"
+            ],
+            "valid_pour_xy_dist": 0.018040256932443585,
+            "valid_pour_held_xy_dist": 0.016059603920345205,
+            "valid_pour_held_gripper_dist": 0.007286376814327775,
+            "valid_pour_required_height": 0.8001463897966113,
+            "valid_pour_held_z": 1.043106809654839,
+            "valid_pour_source_tilt_deg": 3.6819883411866283,
+            "valid_pour_source_upright_tilt_deg": 2.8725055202451255,
+            "valid_pour_source_upright_axis_sign": 1.0,
+            "valid_pour_uses_end_effector_tilt_evidence": false,
+            "valid_pour_end_effector_tilt_deg": null,
+            "valid_pour_source_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "valid_pour_target_xy_drift": 7.679882693323606e-08,
+            "valid_pour_target_tilt_deg": 0.0,
+            "valid_pour_held_grasp_ok": true,
+            "valid_pour_held_grasp_failed_keys": [],
+            "valid_pour_held_grasp_geometry_checked": true,
+            "valid_pour_held_grasp_geometry_required": true,
+            "valid_pour_held_grasp_source": "active_contact_pad_positions",
+            "valid_pour_held_grasp_finger_a": [
+              0.31906688292422314,
+              -0.029235235112950057,
+              1.043106809654839
+            ],
+            "valid_pour_held_grasp_finger_b": [
+              0.3092270242886306,
+              -0.004108505793745344,
+              1.043106809654839
+            ],
+            "valid_pour_held_grasp_midpoint": [
+              0.31414695360642686,
+              -0.0166718704533477,
+              1.043106809654839
+            ],
+            "valid_pour_held_grasp_object_position": [
+              0.31906688292422314,
+              -0.004108505793745344,
+              1.043106809654839
+            ],
+            "valid_pour_held_grasp_finger_gap": 0.026984724275949664,
+            "valid_pour_held_grasp_max_gap": 0.1249237185716629,
+            "valid_pour_held_grasp_geometry_frame": "object_local",
+            "valid_pour_held_grasp_size_source": "beaker_a_local_size",
+            "valid_pour_held_grasp_z_skew": 0.024676968831149313,
+            "valid_pour_held_grasp_world_z_skew": 0.0,
+            "valid_pour_held_grasp_z_skew_max": 0.08,
+            "valid_pour_held_grasp_z_skew_frame": "object_local_up",
+            "valid_pour_held_grasp_local_up_axis": [
+              -0.04249953714618972,
+              -0.9987435272590514,
+              0.02655477547463469
+            ],
+            "valid_pour_held_grasp_object_projection_between_fingers": 0.5,
+            "valid_pour_held_grasp_object_to_finger_line_xy": 0.00439444060900509,
+            "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "valid_pour_held_grasp_object_top_z": 0.04972025007009506,
+            "valid_pour_held_grasp_top_clearance": 0.03696357621692378,
+            "valid_pour_held_grasp_min_top_clearance": 0.014916075021028518,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31906688292422314,
+              -0.029235235112950057,
+              1.043106809654839
+            ],
+            "held_grasp_finger_b": [
+              0.3092270242886306,
+              -0.004108505793745344,
+              1.043106809654839
+            ],
+            "held_grasp_midpoint": [
+              0.31414695360642686,
+              -0.0166718704533477,
+              1.043106809654839
+            ],
+            "held_grasp_object_position": [
+              0.31906688292422314,
+              -0.004108505793745344,
+              1.043106809654839
+            ],
+            "held_grasp_finger_gap": 0.026984724275949664,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024676968831149313,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04249953714618972,
+              -0.9987435272590514,
+              0.02655477547463469
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00439444060900509,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696357621692378,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.269812769677869,
+              0.1215710207863188,
+              0.7611142519016109
+            ],
+            "target_position": [
+              0.26841874419235856,
+              0.118311195553003,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.0035453868062617702,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21573486616841822,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611142519016109,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548548433187692,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08819274594174863,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18634381330479424,
+            "release_required_pad_clearance": 0.054096372970874315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1928421398804154,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "61498df8b2f709dc80f5d546a23333c1d93171251cb163b7b6ccdcfe4bfa74d3",
+    "visual_seed": 5098681568366344435,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_99_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..900c70b20fdd48e17117ccafadb3eef7254f0173
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_99_success.json
@@ -0,0 +1,1030 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29224122829971966,
+              0.1180352647131865,
+              1.0007555909481618
+            ],
+            "current_z": 1.0007555909481618,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.13964902332875095,
+            "gripper_z": 1.0028874756069772,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2872371058000688,
+              0.11326647859111871,
+              1.0028874756069772
+            ],
+            "object_minus_gripper": [
+              0.005004122499650876,
+              0.0047687861220677835,
+              -0.0021318846588154194
+            ],
+            "object_to_gripper_xy": 0.006912493259999493,
+            "object_to_gripper_z": -0.0021318846588154194,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
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+              1.0424488091662143
+            ],
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+              0.31187703526395016,
+              -0.006698101895089119,
+              1.0424488091662143
+            ],
+            "held_grasp_finger_gap": 0.02682597914960173,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0243633371460357,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.016963770647232944,
+              -0.9994493304387301,
+              0.02851782549568349
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005198260594091682,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037355527019026336,
+            "held_grasp_min_top_clearance": 0.014916075021028518,
+            "liquid_check_enabled": false,
+            "liquid_source": "beaker_a",
+            "liquid_target": "beaker_c"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pour",
+              "target_object": "beaker_c",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "beaker_c"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/beaker_3"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pour",
+        "target": "beaker_c",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "beaker_a",
+            "object_position": [
+              0.25196142471776206,
+              0.10467920103393141,
+              0.7611105128751254
+            ],
+            "target_position": [
+              0.267627922273815,
+              0.11534819064777474,
+              0.7774145980897915
+            ],
+            "target_position_source": "target_key:beaker_a_initial_position",
+            "xy_dist": 0.01895432628858407,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20433686658060246,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7611105128751254,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551664709042896,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09401431689681804,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17331099359184027,
+            "release_required_pad_clearance": 0.05700715844840902,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8774145980897915,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.52139088188658,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7712adcd00514d78896e5d372259a33b04d401d789f8517c86ab1c760cd72c8a",
+    "visual_seed": 1139135468449217675,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324
+    ],
+    "runtime_workflow_digest": "5f57c12edcc775235489544f97276d7ad8df506de2e0d9c165c597d9b75e13f4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_9_success.json b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dc95f843014a792f192dc1ffc6e8ab36b323f95
--- /dev/null
+++ b/ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00006/results/episode_9_success.json
@@ -0,0 +1,1024 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
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+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
+              0.2913974733125082,
+              0.12233101638241697,
+              0.9997590524963423
+            ],
+            "current_z": 0.9997590524963423,
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+            "lift_margin": 0.1386524848769315,
+            "gripper_z": 1.0022508657869493,
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+            "gripper_position": [
+              0.28621230606706793,
+              0.11755495173127242,
+              1.0022508657869493
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+              0.0047760646511445515,
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+            "object_to_gripper_z": -0.0024918132906069923,
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+              0.2913974733125082,
+              0.09761007299664273,
+              0.9997590524963423
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+            "finger_b": [
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+              0.12233101638241697,
+              0.9997590524963423
+            ],
+            "finger_midpoint": [
+              0.285660228398364,
+              0.10997054468952985,
+              0.9997590524963423
+            ],
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+              0.01236047169288712,
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+            "fingertip_z_skew_max": 0.035,
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+            "object_to_finger_line_xy": 0.010407962183499311,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048332562549552524,
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+            "object_tilt_deg": 1.3533606682154367,
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+            "object_upright_axis_local": [
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+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
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+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/beaker_3/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_c"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
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+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "pour",
+      "target": "beaker_c",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PourSuccessChecker",
+          "skill": "pour",
+          "target": "beaker_c",
+          "passed": true,
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+          "failure_messages": {},
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+              "held_object": "beaker_a",
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+                "lift2",
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+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
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+                "panda_rightfinger",
+                "panda_rightfingertip",
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+                "robot",
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+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
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+            "disturbances": [],
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+  "reproducibility": {
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+    "action_seed": 613915801507398911,
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+    "layout_id": "layout_00006",
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+      3963008736894911500,
+      627831696969887324
+    ],
+    "workflow_spec_digest": "88191cae6053b8801f36981436a8da3bbd5b64998d9a444f2fdaed3de682e159",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4270e62fd96e9384a499cade5f7b1f82f4b77b915e174d4c1a8e13634390e06b",
+    "visual_seed": 1455653980107957159,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+      3963008736894911500,
+      627831696969887324
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+  }
+}
\ No newline at end of file
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+}
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